Programming Questions

[magical hands]

1) The accelerometer gives the acceleration in "milligs" anyone knows how they are deriving this acceleration equation plus what is "milligs" because i know that acceleration is measure in m/s^2 but haven't heard of "milligs".

2) Also, Anyone knows how can i get distance from the milligs unit?

3) Also, if i want to fuse Kevin's 2006 accelerometer code, 2006 gyro code, and and the CAM code how would i do it?

4) Any one knows how to wire the photoswitch sensors all i see is 2 wires sticking out of the sensor how would i connect it to RC? and where Digital or Analog?