the pendulum
angle
φ
0°
how the sensor is fixed to it
mounting
δ
0°
non-orthog.
ε
0°
what the chip adds
bias
b
x
0 mg
bias
b
y
0 mg
noise
σ
5 mg
reconstruction, atan2 on the corrected reading
reading a
x
, a
y
0
9.81
true
φ
0°
reconstructed
φ̂
0°
static calibration (1 s)
clear
ideal sensor
not calibrated
true pendulum
reconstructed
sensor axes