Re: Accelerometer integration
you are correct - if the accelerometer is positioned with its axis horizontal, then gravity will not affect the reading, unless the robot tilts (climbs a ramp).
For some reason I had tilt-sensing on my mind and got the two applications mixed together.
I dont understand your original equation at all: a^3 ?! Which accelerometer are you using, I will look up the data sheet and see if I can make sense of this.