Roll and Pitch Angles From Accelerometer Sensors

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As you can guess, the AHRS tells a system its current attitude orientation and heading. (View Highlight)
An AHRS consists of three different sensors: a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. (View Highlight)
To put this simply, you can’t measure heading with an accelerometer because gravity doesn’t depend on heading. (View Highlight)