Manual that describes how to estimate attitude the pitch angle with an IMU.

Describe how to estimate the pitch angle using the accelerometer and the rate gyro sensors (both how it works and how to program).
Describe in detail the digital filters you implemented including filter type, order, cutoff frequency, filter coefficients, etc. Make sure to explain why you chose those parameters. This section should include any and all necessary equations to actually implement the filter.
Show results comparing raw data to the filtered values.
Show results comparing the two methods of calculating the roll angle with the Navio+ Raspberry Pi filtered sensor data. Compare your estimates to the motion you imposed (using visual estimation of 45 deg, 90 deg excitation) on the system.
Describe how a complementary filter works, and how to implement one in C++.Include any necessary figures, references, or block diagrams to have a clear description.
Showresultscomparingyourpitchanglecomplementaryfilter.Commentonhowwellthe complimentary filter estimates the pitch angle.