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Does the MPU6050 library Filters the Accelerometer and Gyro Outputs?

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im creating my own Controller and quadcopter and i always run into a the question  of "how do you filter your gyro and Acc and use them together to get a Angle" .  My question is, do i need to filter the Acc and Gyro or is the OUTPUT_READABLE_YAWPITCHROLL  just a filter that Uses both acc and gyro to produce the Angles? what i want to do is use both  Acc and Gyro to create an angle that i will use for a PID controller to balance the quad but if the  OUTPUT_READABLE_YAWPITCHROLL  already does that, than that would be unnecessary.


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