Quote:
Originally Posted by nathanww
AFAIK, you need to use the Z-axis to prevent contamination of your tilt sensing with actual XY acceleration of the robot. You would have to use the X axis if you wanted to do roll sensing, but for a system where you're using a gyro to align yourself, you should only need the z axis.
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That is correct - you either need to look at all three axes to isolate the robot's accelerations from gravity, or you need to stop the robot (thus ensuring that the only acceleration is gravity).