"Really nice work! Congrats! I would like to ask you one question, pitch angle values are within the range [-pi/2, +pi/2] in Euler representation due the singularity when approaching to +-90 degrees. I've tested your code using pre-stored data…"
Essentially, the integrated gyro measurements provide the "high frequency" content of the pitch & roll estimates, while an acceleromter-based gravity vector estimate provides the "low frequency" content. The…"