Accelerometer integration

[Leav]

I may have gotten things all wrong but I was under the impression that the accelerometer tells you the magnitude of acceleration on a given axis.

so if you know how you mounted the accelerometer you would know the acceleration direction relative to the robot (though you would miss any part of the acceleartion perpendicular to the axis that the accelerometer was measuring unless you had two gyros or a dual-axis accelerometer)

-Leav