Kalman Filter An MPU6050 has both a solid-state Gyro and Accelerometer (6 axis altogether). We use a thing called sensor fusion to combine the two readings to get betetr estimates of position (here in 2D). The method used is the Kalman Filter in this example. The Apollo mission used a Kalman filter on its way to the moon as did Artimus. Here the embedded system is done on an ATMEGA2560 in C and the main prorgam and Kalman filter in Python. (Pycharm) #Kalman filter #MPU6050