I'm using MPU6050_6Axis_MotionApps20.h plus main lines of MPU6050_DMP6 to get roll out of the MPU6050. That works fine as long as pitch = zero. Code being that of the example: ...
% The user must specify the arm parameters at the beginning of % rotation parameters for the upper arm rotation around the shoulder theta_UB = 0; % rotation angle [deg] of the upper arm around the ...
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