Complementary Filter Sensor Fusion between Accelerometer and Gyroscope to estimate Pitch and Roll

Mocap Suit Building Part 10
In this video, I have explained complementary filter sensor fusion using accelerometer raw data and gyroscope angular velocity. I have implemented the logic in the ESP32 Arduino board. Based on multiple trust percentage 50, 75 95 and 98 I have tuned my complementary filter to 95%. Finally, I have explained how low pass filter is used in complementary filter. While explained I have shown the difference of evaluation between continuous domain implementation and discrete domain implementation and how both of them are similar. In the next episode, I will determine the Yaw using magnetometer, fusing it with accelerometer by building a DCM (direction cosine matrix).

This post detailed writeup:   / 63103835  

Important Information:
Accelerometer:    • Accelerometer Explained - simplified | How...   and Sourcecode:   / 61214703  

Gyroscope:    • Basic principles behind Gyroscope | How gy...   (Part1) and   / 62003316   (sourcecode),
   • Gyroscope | Rigidity in Space and Precessi...   (Part2) and   / 62369320   (sourcecode)

Low Pass Filter:    • Understanding Low Pass Filter to attenuate...   and   / 61781469   (sourcecode)

Sensor Fusion:    • A brief understanding of Sensor Fusion and...   and   / 62675791   (Detail writeup)

Special Thanks to:
Brian Douglas:    • Drone Control and the Complementary Filter  
Matlab:    • Understanding Sensor Fusion and Tracking, ...  

Video Chapters:
00:00 What is complementary Filter? Basic concept to complementary filter sensor fusion
01:38 How to convert accelerometer data to angle? Accelerometer in complementary filter
02:38 How to evaluate angle from gyroscope? Gyroscope in complementary filter
04:08 What is Dead Reckoning with examples
04:45 Sensor Fusion – Complementary Filter Algorithm
06:12 Complementary Filter Algorithm
06:38 Complementary Filter in Arduino / Source code of complementary filter
09:28 Complementary Filter on roll angle derivation
11:29 Complementary Filter comparison between 50%, 75%, 95% and 98% preset factors
12:23 Complementary Filter on pitch angle derivation
14:05 Why complementary filter uses low pass filter / high pass filter
14:40 Continuous Domain implementation of low pass filter / First Order Low Pass Filter
16:21 Discrete Domain implementation of low pass filter
17:30 Discrete Low Pass Filter / LPF
17:51 Magnetometer coming next and conclusion

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I am not an expert, I am learning while I am making this video. If I am making mistakes please help and please comment your opinion
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