Hello,

In your app it seems that you are only moving around the x axis (roll). Is 
your solution also work around the z axis ? (yaw angle). Because the 
accelerometer is not capable to detect acceleration around the plan XY so I 
don't see how it can assist the gyro.

"The filtering and combination can be done in many ways."
This is the question I'm wondering, how can I combine either "compass + 
gyro" 

thank you

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