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Thanks Tom. That helps. I may get back to you with more questions, once I am up to snuffs with the code and my balbot project, but I am getting close.

rgds --ray
-------------- Original message ----------------------
From: "Tom Becker"
> Kyle Vogt has not been active here for several years, Ray. His Kalman
> code was posted in 2003. I can help answer some of your questions.
>
> Sparkfun's accelerometer/gyro breakout boards should work fine with
> Kyle's code, but you will need to make changes to change from PWM
> input to analog input.
>
> His code will compile as posted, I believe; execution starts at
> Main(). He runs two tasks, the main task that spins and collects rate
> gyro data and another task that spins getting acceleration data.
> You'll find that some values are fudged, some hard numbers are where
> variables should be, and other signs of incomplete code. I found that
> it fundamentally works, but you'll need to integrate it into your device.
>
> Kyle didn't indicated if this was successful in a project, but I
> suspect it was.
> Tom

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