Issues on how to use ur code to process data from cell phone's inner sensors

[dtneverdie]

I m now working on heading estimation and trying to use madgwick algo in ur project processing cell phone's acceleration ,magnetometer and gyroscope data to get heading information. I tried inputing raw data into update() function and the result of ypr angle seems pretty strange. I m not sure if i use the
ax = convertRawAcceleration(aix); ay = convertRawAcceleration(aiy); az = convertRawAcceleration(aiz); gx = convertRawGyro(gix); gy = convertRawGyro(giy); gz = convertRawGyro(giz); code after getting my raw data, and i also wanna know how to transfer the ypr angle result to pedestrian‘s heading.

[dtneverdie]

The pic behind shows the trajectory,74 and 175 means the orientation i measured at the start point of each straight line

This one shows the graph from the trajectory while x axis stands for timestamp and y axis stands for the result of getYaw(),which seems weird.