I wanted to ask
1: how did you come up with that complimentary filter for finding the total angle sensed by the accelerometer and gyroscope ?
2: also for the PID integral part it is supposed to be integral why is your code different shouldnt it be (error-previous error) * (time elapsed)* Ki ??
3: why arent you suing the interrupt pin feature for the MPU6050 liek the one jeff rowberg used any specific reasons for that?