Starlino has a great article on using gyroscopes and accelerometers.
I’ll try try to cover few basic but important topics in this article:
– what does an accelerometer measure
– what does a gyroscope (aka gyro) measure
– how to convert analog-to-digital (ADC) readings that you get from these sensor to physical units (those would be g for accelerometer, deg/s for gyroscope)
– how to combine accelerometer and gyroscope readings in order to obtain accurate information about the inclination of your device relative to the ground plane