Attitude and inclination Tools Test experiment to compare attitude, inclination and raw accelerometer and gyroscope data. win xin yin zin woff xoff yoff zoff w x y z t direct yaw pitch roll w0 x0 y0 z0 wlast xlast ylast zlast tmax count count-1 accX accY accZ accT gyrX gyrY gyrZ gyrT remainder copyindex ncopy tavg filterAccX filterAccY filterAccZ filterT0 filterTmax res_filteredT res_angle res_anglePlane filteredT angle anglePlane xin yin zin win t accX accY accZ accT gyrX gyrY gyrZ gyrT direct yaw pitch roll t direct t yaw t pitch t roll filteredT angle angle filteredT anglePlane anglePlane tavg accT copyindex remainder remainder filterT0 filterT0 tavg filterTmax remainder count count 1 count-1 remainder filterTmax ncopy ncopy count-1 0 ncopy ncopy accX copyindex ncopy filterAccX accY copyindex ncopy filterAccY accZ copyindex ncopy filterAccZ filterT0 filterTmax res_filteredT filterAccX filterAccY filterAccZ res_angle filterAccX filterAccY res_anglePlane ncopy 0 res_angle angle ncopy 0 res_anglePlane anglePlane ncopy 0 res_filteredT filteredT copyindex ncopy copyindex win wlast xin xlast yin ylast zin zlast w0 x0 y0 z0 win xin yin zin woff w0 x0 y0 z0 win xin yin zin xoff w0 x0 y0 z0 win xin yin zin yoff w0 x0 y0 z0 win xin yin zin zoff woff xoff yoff zoff direct woff xoff yoff zoff yaw woff xoff yoff zoff pitch woff xoff yoff zoff roll woff w xoff x yoff y zoff z t w x y z direct yaw pitch roll filteredT angle anglePlane accT accX accY accZ accT gyrX gyrY gyrZ