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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?
in Arduino by (120 points)

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