Use the deployment script to compile and deploy the firmware.
The accelerometers and gyroscopes constitute a low-cost inertial measurement unit (IMU). The cost of this IMU is less than 10 USD. A Bosch BMA150 3-axis accelerometer using a 10 bits A/D converter is used. It has a +/- 2g range. The two axis gyro is an Invensense IDG500. It is an analog sensor. It is digitalized by the PIC 12 bits A/D converter, and can measure rotation rates up to 500 degrees/s. On the vertical axis, a more accurate gyroscope is considered. It is an Epson XV3700. It has an auto-zero function to minimize heading drift. The IMU is running at a 200Hz rate.