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The inertial sensor is a combined 3 axis Gyro and a 3 axis Accelerometer. The three axis are x,y,z and are perpendicular to each other. Rotations about these axes are measured by the gyro. The accelerometer measures the acceleration in each of these directions. To understand the 3 axis measurement of the gyro we need to understand the possible rotations of the robot. We will use the standard aerospace terms to name the different rotations, Pitch, Roll and Yaw.
A visual representation of rotations. This is from the Nasa Glenn Research Center beginners guide to aeronautics. You can find a bunch more information by clicking through to their site.
In this section we will take a look at what data we can get from the sensor and print it to the screen.