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Re: Got Gyro drift? Try Sensor Fusion !
"Can it be done with only a gyro and accelerometer?"
You cannot get a Yaw indication with an accelerometer, since Yaw is rotation about the Gravity vector. You need something, like a Mag, to generate a Yaw-direction as a reference vector.
This disturbance of the Earth field, however, will have no effect on the complimentary filter's Pitch and Roll indications.
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