Kalman Filter code

#include <Kalman.h> // Include Kalman Filter Library

Kalman kalmanX; // Create Kalman filter for X-axis
Kalman kalmanY; // Create Kalman filter for Y-axis

float angleX, angleY;  // Filtered angle output

void setup() {
  Serial.begin(115200);
  kalmanX.setAngle(0); // Initialize the filter angle
  kalmanY.setAngle(0);
}

void loop() {
  float accelX, accelY, gyroX, gyroY; // Simulated sensor readings

  // Replace these with actual sensor readings
  accelX = getAccelX();
  accelY = getAccelY();
  gyroX = getGyroX();
  gyroY = getGyroY();

  // Apply Kalman filter
  angleX = kalmanX.getAngle(accelX, gyroX, 0.01);
  angleY = kalmanY.getAngle(accelY, gyroY, 0.01);

  Serial.print("Angle X: "); Serial.print(angleX); Serial.print("\t");
  Serial.print("Angle Y: "); Serial.println(angleY);

  delay(10);
}