Hello guys,

I’m working on a flight controller using an mpu6050 and I’m wondering if the pitch and roll fluctuate too much. These values represent the output of a complementary filter where I used a 0.98 weight for the gyro estimate and 0.02 weight for acc measurement. I didn’t calibrate the acc yet so I know there will be an offset, but what bothers me is the fluctuation. After a little research I stumbled upon some ideas of filtering the accelerations using moving average filter. Isn’t this a bit overkill? Or is it necessary? Then I was simply thinking to implement a Kalman F instead. I’m not sure if I should follow the Kalman or stick with the current implementation. What do you think? Thanks in advance.