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  • Your question can be interrupted in many ways (its not clear) however here is what I understood :). 

    Answer1: if you move nose-up/down of the ardupilot, you will experience change in Acc-x (that means pitch fluctuation can be visible on the x-axis)....... similarly the y-axis will show fluctuation in roll. (please note that x-axis is facing forward, y-axis to the right and z-axis down .......... and from acceleration point of view....... if gravity vector is compensated..... acc_x provides fwd/back motion..... acc_y provides sideway motion.....acc_z provides up/down motion info)

    Answer2: Please note that gyro provides relative angular rate (so roll is gyro_x, pitch is gyro_y and yaw is gyro_z),

    "Extra info": To calculate the absolute roll-pitch from accelerometer, here is the simple math:

       pitch_fromacc = -1*atan2(accl_x,sqrt(accl_y*accl_y +  accl_z* accl_z));

       roll_fromacc = atan2(accl_y,sqrt(accl_x*accl_x +  accl_z* accl_z));

    for absolute yaw, one need magnetormeter as accelerometer has got gravity

    I would recommend to do imu calibration again from the GCS (seems calibration error as well)

  • My understand is that Y is acceleration fore/aft.  X is side/side, and Z is up/down.

    Accel is not angular, and therefore is not pitch , or roll, or yaw.  

    Now, the Gyros... I believe Y is roll, X is pitch, and Z is yaw.

  • Looking at some code is it possible that accel X is both pitch and roll, accel Y is yaw and Z is altitude? 

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