Hi, I've got a digital accelerometer and a digital compass (on a Android smart = phone). I'd like to play with it. What I'd like to simulate is a poor man's gyrosco= pe, what are the best algoritms to do this, given the 6 axis accelerometer+magnetome= ter DOF? Thanks, Mario --=20 http://www.piclist.com PIC/SX FAQ & list archive View/change your membership options at http://mailman.mit.edu/mailman/listinfo/piclist .