This video explains how to program your own inertial measurement unit, or IMU for short, that can be used for auto-leveling (self-balancing) a multicopter. No Kalman filters, no libraries, no difficult calculations, just a simple and easy to understand tutorial that explains how to build an IMU that can be used for auto-leveling a multicopter.

Website and Arduino code:
http://www.brokking.net/imu.html

Part 2: https://youtu.be/j-kE0AMEWy4

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