別途MadgwickAHRSライブラリを入れてください
//Sample Code
#include "BMX055.h"
#include <Wire.h>
#include <MadgwickAHRS.h>
Madgwick MadgwickFilter;
#define DEBUG
void setup() {
Wire.begin();
Serial.begin(115200);
BMX055_Init();
delay(300);
MadgwickFilter.begin(10);
}
void loop() {
BMX055_Gyro();
BMX055_Accl();
BMX055_Mag();
MadgwickFilter.update(xGyro, yGyro, zGyro, xAccl, yAccl, zAccl, xMag, yMag, zMag);
roll = MadgwickFilter.getRoll();
pitch = MadgwickFilter.getPitch();
yaw = MadgwickFilter.getYaw();
#ifdef DEBUG
Serial.println(pitch);
delay(50);
#endif
}