1 img. Reading raw accel data and plotting it with OpenGL library.
2 img. Reading raw accel + gyro data, removing drift with kalman filter and ploting kalman data with OpenGL library.

Code used to play with kalman filter:
[ Ссылка ]

I recalculated the output of gyro and accel from my MPU6000 SPI sensor, then I send the parameters to Kalman filter function.

I used STM32F4DISCOVERY in my project.

Full project download link:
[ Ссылка ]

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