An accelerometer is a tool that measures proper acceleration. Proper acceleration is the acceleration (the rate of change of velocity) of a body in its own instantaneous rest frame;
The ADXL345 is a small, thin, ultralow power, 3-axis accelerometer with high resolution (13-bit) measurement at up to ±16 g. Digital output data is formatted as 16-bit twos complement and is accessible through either an SPI (3- or 4-wire) or I2C digital interface.
GY-291 adxl345 i2c SPI accelerometer sensor Arduino esp8266 esp32
This module support 3.3v and 5v power supply, but It hasn’t a logic level converter and needs a 3.3v connection for long-time communication.
How does an accelerometer work An accelerometer works on the principle of piezoelectric effect. Here, imagine a cuboidal box, having a small ball inside it, like in the picture below:
Accelerometer: cuboidal box having a small ball inside it
The walls of this box are made with piezoelectric crystals. Whenever you tilt the box, the ball is forced to move in the direction of the inclination,
Accelerometer: cuboidal box having a small ball acceleration effect
due to gravity. The wall with which the ball collides creates tiny piezo electric currents. There are totally, three pairs of opposite walls in a cuboid. Each pair corresponds to an axis in 3D space: X, Y, and Z axes.
Accelerometer: cuboidal box having with a small ball with gravity effect
Depending on the current produced from the piezoelectric walls, we can determine the direction of inclination and its magnitude.
Accelerometer: cuboidal box having a small ball with gravitational force
Each accelerometer has a zero-g voltage level, you can find it in the specification of the accelerometer, also have a sensitivity, usually expressed in mV/g, divide the zero-g level corrected reading by the sensitivity to produce the final reading proof mass deflection is measured as a change in capacitance between the proof mass and sensing platesInternal circuitry converts the tiny capacitance to a voltage signal which is digitized and output.
Accelerometer structure movement
With this characteristic, the accelerometer can also be used to correct magnetometer errors.
Airplane correction error with accelerometer
You can get more information in the flying manual .
For Arduino UNO, It’s better if you don’t connect directly to A4 and A5 pin because the logic voltage is 5v, and the module support 3.3v only (limit 3.6v), It works well without also, but you risk burning It.
Arduino UNO and adxl345 i2c logic level converter
Spi is more difficult to connect, but It’s grants more speed.
Arduino UNO and adxl345 SPI logic level converter
The esp8266 and esp32 have a 3.3v logic, so they work without problems.
esp32 with i2c connection on standard pin SDA and SCL GPIO21 and GPIO22.
esp32 doit dev kit v1 adxl345 i2c
SPI connection on SS (GPIO05), MOSI (GPIO23), MISO (GPIO19), and SCK (GPIO18) that correspond to CS, SDA, SDO, and SCL pins.
esp32 doit dev kit v1 and adxl345 SPI
On esp8266 D4 on SDA and D5 on SCL.
esp8266 WeMos D1 and adxl345 i2c
esp8266 with SPI SS (D8) on CS, D7 (MOSI) on SDA, D6 (MISO) on SDO, and D5 (SCK) on SCL.
esp8266 WeMos D1 and adxl345 SPI
Exist a lot of libraries, but one of the most simple It’s the Adafruit one. You can get It from GitHub with the relative dependencies Adafruit Unified Sensor Driver , or directly from Arduino IDE library manager.
Arduino IDE library manager GY-291 adxl345
Here is a simple sketch (from a library example) with an i2c connection that grabs the data from the accelerometer.
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#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_ADXL345_U.h>
Adafruit_ADXL345_Unified accel = Adafruit_ADXL345_Unified(12345);
void displaySensorDetails(void)
{
sensor_t sensor;
accel.getSensor(&sensor);
Serial.println("------------------------------------");
Serial.print ("Sensor: "); Serial.println(sensor.name);
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" m/s^2");
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" m/s^2");
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" m/s^2");
Serial.println("------------------------------------");
Serial.println("");
delay(500);
}
void displayDataRate(void)
{
Serial.print ("Data Rate: ");
switch(accel.getDataRate())
{
case ADXL345_DATARATE_3200_HZ:
Serial.print ("3200 ");
break;
case ADXL345_DATARATE_1600_HZ:
Serial.print ("1600 ");
break;
case ADXL345_DATARATE_800_HZ:
Serial.print ("800 ");
break;
case ADXL345_DATARATE_400_HZ:
Serial.print ("400 ");
break;
case ADXL345_DATARATE_200_HZ:
Serial.print ("200 ");
break;
case ADXL345_DATARATE_100_HZ:
Serial.print ("100 ");
break;
case ADXL345_DATARATE_50_HZ:
Serial.print ("50 ");
break;
case ADXL345_DATARATE_25_HZ:
Serial.print ("25 ");
break;
case ADXL345_DATARATE_12_5_HZ:
Serial.print ("12.5 ");
break;
case ADXL345_DATARATE_6_25HZ:
Serial.print ("6.25 ");
break;
case ADXL345_DATARATE_3_13_HZ:
Serial.print ("3.13 ");
break;
case ADXL345_DATARATE_1_56_HZ:
Serial.print ("1.56 ");
break;
case ADXL345_DATARATE_0_78_HZ:
Serial.print ("0.78 ");
break;
case ADXL345_DATARATE_0_39_HZ:
Serial.print ("0.39 ");
break;
case ADXL345_DATARATE_0_20_HZ:
Serial.print ("0.20 ");
break;
case ADXL345_DATARATE_0_10_HZ:
Serial.print ("0.10 ");
break;
default:
Serial.print ("???? ");
break;
}
Serial.println(" Hz");
}
void displayRange(void)
{
Serial.print ("Range: +/- ");
switch(accel.getRange())
{
case ADXL345_RANGE_16_G:
Serial.print ("16 ");
break;
case ADXL345_RANGE_8_G:
Serial.print ("8 ");
break;
case ADXL345_RANGE_4_G:
Serial.print ("4 ");
break;
case ADXL345_RANGE_2_G:
Serial.print ("2 ");
break;
default:
Serial.print ("?? ");
break;
}
Serial.println(" g");
}
void setup(void)
{
#ifndef ESP8266
while (!Serial);
#endif
Serial.begin(9600);
Serial.println("Accelerometer Test"); Serial.println("");
if(!accel.begin())
{
Serial.println("Ooops, no ADXL345 detected ... Check your wiring!");
while(1);
}
accel.setRange(ADXL345_RANGE_16_G);
displaySensorDetails();
displayDataRate();
displayRange();
Serial.println("");
}
void loop(void)
{
sensors_event_t event;
accel.getEvent(&event);
Serial.print("X: "); Serial.print(event.acceleration.x); Serial.print(" ");
Serial.print("Y: "); Serial.print(event.acceleration.y); Serial.print(" ");
Serial.print("Z: "); Serial.print(event.acceleration.z); Serial.print(" ");Serial.println("m/s^2 ");
delay(500);
}
To connect with SPI, you must change the constructor
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Adafruit_ADXL345_Unified accel = Adafruit_ADXL345_Unified(SCK, MISO, MOSI, SS, 12345);
esp32 lolin32 adxl345 spi breadboard wiring
Here is the serial output of the script
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------------------------------------
Sensor: ADXL345
Driver Ver: 1
Unique ID: 12345
Max Value: -156.91 m/s^2
Min Value: 156.91 m/s^2
Resolution: 0.04 m/s^2
------------------------------------
Data Rate: 100 Hz
Range: +/- 16 g
X: -4.08 Y: -0.78 Z: 8.98 m/s^2
X: -4.04 Y: -0.78 Z: 8.94 m/s^2
X: -4.08 Y: -0.78 Z: 8.83 m/s^2
X: -4.08 Y: -0.75 Z: 8.90 m/s^2
X: -4.04 Y: -0.78 Z: 8.94 m/s^2
X: -4.08 Y: -0.78 Z: 8.98 m/s^2
X: -4.08 Y: -0.75 Z: 8.90 m/s^2
X: -4.00 Y: -0.78 Z: 8.90 m/s^2
X: -4.08 Y: -0.75 Z: 8.90 m/s^2
X: -4.08 Y: -0.75 Z: 8.94 m/s^2
X: -4.04 Y: -0.78 Z: 8.90 m/s^2
X: -4.04 Y: -0.78 Z: 8.94 m/s^2
X: -4.04 Y: -0.78 Z: 8.94 m/s^2
This device offers a good series of interrupt modes, which are very useful in smart/bio-metric logging. Here is the information from the datasheet.
DATA_READY
SINGLE_TAP
DOUBLE_TAP
Activity
Inactivity
FREE_FALL
Watermark
The SparkFun library It’s quite a complex library but offers support to i2c and SPI and gives us the possibility to manage all the interrupt described up. You can get It from GitHub , or directly from the Arduino IDE library manager.
gy 291 adxl345 i2c SPI SparkFun library with interrupt arduino esp32 and esp8266
The code offer a complete example of interrupt usage.
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#include <SparkFun_ADXL345.h>
ADXL345 adxl = ADXL345(10);
void ADXL_ISR();
void setup(){
Serial.begin(9600);
Serial.println("SparkFun ADXL345 Accelerometer Hook Up Guide Example");
Serial.println();
adxl.powerOn();
adxl.setRangeSetting(16);
adxl.setSpiBit(0);
adxl.setActivityXYZ(1, 0, 0);
adxl.setActivityThreshold(75);
adxl.setInactivityXYZ(1, 0, 0);
adxl.setInactivityThreshold(75);
adxl.setTimeInactivity(10);
adxl.setTapDetectionOnXYZ(0, 0, 1);
adxl.setTapThreshold(50);
adxl.setTapDuration(15);
adxl.setDoubleTapLatency(80);
adxl.setDoubleTapWindow(200);
adxl.setFreeFallThreshold(7);
adxl.setFreeFallDuration(30);
adxl.InactivityINT(1);
adxl.ActivityINT(1);
adxl.FreeFallINT(1);
adxl.doubleTapINT(1);
adxl.singleTapINT(1);
}
void loop(){
int x,y,z;
adxl.readAccel(&x, &y, &z);
ADXL_ISR();
}
void ADXL_ISR() {
byte interrupts = adxl.getInterruptSource();
if(adxl.triggered(interrupts, ADXL345_FREE_FALL)){
Serial.println("*** FREE FALL ***");
}
if(adxl.triggered(interrupts, ADXL345_INACTIVITY)){
Serial.println("*** INACTIVITY ***");
}
if(adxl.triggered(interrupts, ADXL345_ACTIVITY)){
Serial.println("*** ACTIVITY ***");
}
if(adxl.triggered(interrupts, ADXL345_DOUBLE_TAP)){
Serial.println("*** DOUBLE TAP ***");
}
if(adxl.triggered(interrupts, ADXL345_SINGLE_TAP)){
Serial.println("*** TAP ***");
}
}
As you can see, the library support i2c and SPI, and you can set a lot of data to specify the sensitivity of the device and interrupt parameters.
esp32 doit dev kit v1 adxl345 i2c interrupt wiring
I change the example to use pin GPIO15 pin of esp32 as an interrupt for some activity like TAP or DOUBLE TAP and GPIO4 to intercept 5 seconds of inactivity.
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#include <SparkFun_ADXL345.h>
ADXL345 adxl = ADXL345();
volatile bool somethingAppend = false;
volatile bool nothingAppend = false;
void IRAM_ATTR pin1Interrupt() {
somethingAppend = true;
}
void IRAM_ATTR pin2Interrupt() {
nothingAppend = true;
}
void setup(){
Serial.begin(9600);
Serial.println("SparkFun ADXL345 Accelerometer Hook Up Guide Example");
Serial.println();
adxl.powerOn();
adxl.setRangeSetting(16);
adxl.setSpiBit(0);
adxl.setActivityXYZ(1, 0, 0);
adxl.setActivityThreshold(75);
adxl.setInactivityXYZ(1, 0, 0);
adxl.setInactivityThreshold(75);
adxl.setTimeInactivity(5);
adxl.setTapDetectionOnXYZ(0, 0, 1);
adxl.setTapThreshold(50);
adxl.setTapDuration(15);
adxl.setDoubleTapLatency(80);
adxl.setDoubleTapWindow(200);
adxl.setFreeFallThreshold(7);
adxl.setFreeFallDuration(30);
adxl.setImportantInterruptMapping(1, 1, 1, 1, 2);
adxl.InactivityINT(1);
adxl.ActivityINT(1);
adxl.FreeFallINT(1);
adxl.doubleTapINT(1);
adxl.singleTapINT(1);
pinMode(GPIO_NUM_4, INPUT);
pinMode(GPIO_NUM_15, INPUT);
attachInterrupt(digitalPinToInterrupt(GPIO_NUM_4), pin1Interrupt, RISING);
attachInterrupt(digitalPinToInterrupt(GPIO_NUM_15), pin2Interrupt, RISING);
}
void ADXL_ISR();
#define INTERVAL 1000
unsigned long startTime = millis();
void loop(){
int x,y,z;
adxl.readAccel(&x, &y, &z);
if (startTime + INTERVAL < millis()){
Serial.print("values of X , Y , Z: ");
Serial.print(x);
Serial.print(" , ");
Serial.print(y);
Serial.print(" , ");
Serial.println(z);
double xyzG[3];
double ax,ay,az;
adxl.get_Gxyz(xyzG);
ax = xyzG[0];
ay = xyzG[1];
az = xyzG[2];
Serial.print("X=");
Serial.print(ax);
Serial.print(" g");
Serial.print(" Y=");
Serial.print(ay);
Serial.print(" g");
Serial.print(" Z=");
Serial.print(az);
Serial.println(" g");
Serial.println("**********************");
if (somethingAppend) {
Serial.println(" ------> Something append!!");
ADXL_ISR();
somethingAppend = false;
}
if (nothingAppend) {
Serial.println(" ------> Nothing append in the last 5 secs.!!");
ADXL_ISR();
nothingAppend = false;
}
startTime = millis();
}
}
void ADXL_ISR() {
byte interrupts = adxl.getInterruptSource();
if(adxl.triggered(interrupts, ADXL345_FREE_FALL)){
Serial.println("*** FREE FALL ***");
}
if(adxl.triggered(interrupts, ADXL345_INACTIVITY)){
Serial.println("*** INACTIVITY ***");
}
if(adxl.triggered(interrupts, ADXL345_DOUBLE_TAP)){
Serial.println("*** DOUBLE TAP ***");
}
if(adxl.triggered(interrupts, ADXL345_SINGLE_TAP)){
Serial.println("*** TAP ***");
}
}
Here is the console output of my test.
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values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
------> Nothing append in the last 5 secs.!!
*** INACTIVITY ***
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: 1 , -2 , 66
X=0.00 g Y=-0.01 g Z=0.23 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
------> Something append!!
*** DOUBLE TAP ***
*** TAP ***
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
------> Nothing append in the last 5 secs.!!
*** INACTIVITY ***
values of X , Y , Z: -3 , 16 , 27
X=-0.01 g Y=0.06 g Z=0.09 g
**********************
As written we can get a good measurement of the current inclination angle in order, for example, to control the robot’s movements. Let’s first examine how to use an accelerometer alone to measure the inclination angle.
Suppose that the robot is in a stationary position illustrated below (viewed from the side, the accelerometer is placed on the top of the robot, perpendicular to the body):
Calculate inclination angle from accelerator
The inclination angle can be calculated as:
cos(Axr) = Rx / R
R = SQRT( Rx^2 + Ry^2 + Rz^2)
Find angles by using arccos() function (the inverse cos() function ):
Axr = arccos(Rx/R)
So the function to calculate the angle from 0 positions become
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float inclination=180.0*acos(az/sqrt(ax*ax+ay*ay+az*az))/M_PI;
if you want “reset” the initial position, you can use this function that compensates for the initial ax0, ay0 and az0 values.
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float inclinationFromInitialValue = 180.0*acos( (ax0*ax + ay0*ay + az0*az)/sqrt( (ax*ax + ay*ay + az*az)*(ax0*ax0 + ay0*ay0 + az0*az0)))/M_PI;
The resulting code is this
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#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_ADXL345_U.h>
Adafruit_ADXL345_Unified accel = Adafruit_ADXL345_Unified(SCK, MISO, MOSI, SS, 12345);
void displaySensorDetails(void)
{
sensor_t sensor;
accel.getSensor(&sensor);
Serial.println("------------------------------------");
Serial.print ("Sensor: "); Serial.println(sensor.name);
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" m/s^2");
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" m/s^2");
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" m/s^2");
Serial.println("------------------------------------");
Serial.println("");
delay(500);
}
void displayDataRate(void)
{
Serial.print ("Data Rate: ");
switch(accel.getDataRate())
{
case ADXL345_DATARATE_3200_HZ:
Serial.print ("3200 ");
break;
case ADXL345_DATARATE_1600_HZ:
Serial.print ("1600 ");
break;
case ADXL345_DATARATE_800_HZ:
Serial.print ("800 ");
break;
case ADXL345_DATARATE_400_HZ:
Serial.print ("400 ");
break;
case ADXL345_DATARATE_200_HZ:
Serial.print ("200 ");
break;
case ADXL345_DATARATE_100_HZ:
Serial.print ("100 ");
break;
case ADXL345_DATARATE_50_HZ:
Serial.print ("50 ");
break;
case ADXL345_DATARATE_25_HZ:
Serial.print ("25 ");
break;
case ADXL345_DATARATE_12_5_HZ:
Serial.print ("12.5 ");
break;
case ADXL345_DATARATE_6_25HZ:
Serial.print ("6.25 ");
break;
case ADXL345_DATARATE_3_13_HZ:
Serial.print ("3.13 ");
break;
case ADXL345_DATARATE_1_56_HZ:
Serial.print ("1.56 ");
break;
case ADXL345_DATARATE_0_78_HZ:
Serial.print ("0.78 ");
break;
case ADXL345_DATARATE_0_39_HZ:
Serial.print ("0.39 ");
break;
case ADXL345_DATARATE_0_20_HZ:
Serial.print ("0.20 ");
break;
case ADXL345_DATARATE_0_10_HZ:
Serial.print ("0.10 ");
break;
default:
Serial.print ("???? ");
break;
}
Serial.println(" Hz");
}
void displayRange(void)
{
Serial.print ("Range: +/- ");
switch(accel.getRange())
{
case ADXL345_RANGE_16_G:
Serial.print ("16 ");
break;
case ADXL345_RANGE_8_G:
Serial.print ("8 ");
break;
case ADXL345_RANGE_4_G:
Serial.print ("4 ");
break;
case ADXL345_RANGE_2_G:
Serial.print ("2 ");
break;
default:
Serial.print ("?? ");
break;
}
Serial.println(" g");
}
void setup(void)
{
#ifndef ESP8266
while (!Serial);
#endif
Serial.begin(9600);
Serial.println("Accelerometer Test"); Serial.println("");
if(!accel.begin())
{
Serial.println("Ooops, no ADXL345 detected ... Check your wiring!");
while(1);
}
accel.setRange(ADXL345_RANGE_16_G);
displaySensorDetails();
displayDataRate();
displayRange();
Serial.println("");
}
bool initialValue = true;
double az0 = 0;
double ax0 = 0;
double ay0 = 0;
void loop(void)
{
sensors_event_t event;
accel.getEvent(&event);
double az = event.acceleration.z;
double ax = event.acceleration.x;
double ay = event.acceleration.y;
if (initialValue) {
az0 = event.acceleration.z;
ax0 = event.acceleration.x;
ay0 = event.acceleration.y;
initialValue = false;
}
float inclination=180.0*acos(az/sqrt(ax*ax+ay*ay+az*az))/M_PI;
Serial.print("Inclination: from 0 -> ");
Serial.print(inclination);
float inclinationFromInitialValue = 180.0*acos( (ax0*ax + ay0*ay + az0*az)/sqrt( (ax*ax + ay*ay + az*az)*(ax0*ax0 + ay0*ay0 + az0*az0)))/M_PI;
Serial.print("° - from initial value -> ");
Serial.print(inclinationFromInitialValue);
Serial.print("° - X: "); Serial.print(ax); Serial.print(" ");
Serial.print("Y: "); Serial.print(ay); Serial.print(" ");
Serial.print("Z: "); Serial.print(az); Serial.print(" ");Serial.println("m/s^2 ");
delay(500);
}
The serial output becomes
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Accelerometer Test
------------------------------------
Sensor: ADXL345
Driver Ver: 1
Unique ID: 12345
Max Value: -156.91 m/s^2
Min Value: 156.91 m/s^2
Resolution: 0.04 m/s^2
------------------------------------
Data Rate: 100 Hz
Range: +/- 16 g
Inclination: from 0 -> 25.15° - from initial value -> 0.00° - X: -4.16 Y: -0.43 Z: 8.90 m/s^2
Inclination: from 0 -> 24.46° - from initial value -> 0.76° - X: -4.04 Y: -0.47 Z: 8.94 m/s^2
Inclination: from 0 -> 24.76° - from initial value -> 0.48° - X: -4.08 Y: -0.47 Z: 8.90 m/s^2
Inclination: from 0 -> 24.39° - from initial value -> 0.77° - X: -4.00 Y: -0.39 Z: 8.87 m/s^2
Inclination: from 0 -> 24.78° - from initial value -> 0.62° - X: -4.08 Y: -0.51 Z: 8.90 m/s^2
Inclination: from 0 -> 24.88° - from initial value -> 0.57° - X: -4.08 Y: -0.51 Z: 8.87 m/s^2
Inclination: from 0 -> 20.58° - from initial value -> 5.11° - X: -3.26 Y: 0.00 Z: 8.67 m/s^2
Inclination: from 0 -> 52.23° - from initial value -> 28.91° - X: -7.10 Y: 1.41 Z: 5.61 m/s^2
Inclination: from 0 -> 70.47° - from initial value -> 49.04° - X: -8.90 Y: 3.65 Z: 3.41 m/s^2
Inclination: from 0 -> 77.11° - from initial value -> 56.65° - X: -8.71 Y: 4.43 Z: 2.24 m/s^2
Inclination: from 0 -> 87.06° - from initial value -> 68.87° - X: -8.00 Y: 5.88 Z: 0.51 m/s^2
Inclination: from 0 -> 94.68° - from initial value -> 76.98° - X: -7.81 Y: 6.35 Z: -0.82 m/s^2
Inclination: from 0 -> 102.48° - from initial value -> 84.43° - X: -7.69 Y: 6.28 Z: -2.20 m/s^2
Inclination: from 0 -> 102.26° - from initial value -> 84.13° - X: -7.73 Y: 6.24 Z: -2.16 m/s^2
Inclination: from 0 -> 103.35° - from initial value -> 85.46° - X: -7.61 Y: 6.35 Z: -2.35 m/s^2
Inclination: from 0 -> 105.40° - from initial value -> 87.56° - X: -7.37 Y: 6.28 Z: -2.67 m/s^2
Inclination: from 0 -> 97.58° - from initial value -> 78.79° - X: -8.12 Y: 5.88 Z: -1.33 m/s^2
Inclination: from 0 -> 106.23° - from initial value -> 84.68° - X: -8.71 Y: 4.28 Z: -2.82 m/s^2
Inclination: from 0 -> 106.06° - from initial value -> 83.50° - X: -9.02 Y: 3.49 Z: -2.79 m/s^2
Inclination: from 0 -> 112.29° - from initial value -> 89.72° - X: -8.36 Y: 3.33 Z: -3.69 m/s^2
Inclination: from 0 -> 52.47° - from initial value -> 28.98° - X: -9.14 Y: 1.69 Z: 7.14 m/s^2
Inclination: from 0 -> 30.41° - from initial value -> 8.93° - X: -5.06 Y: 0.86 Z: 8.75 m/s^2
Inclination: from 0 -> 24.27° - from initial value -> 17.12° - X: -2.94 Y: 2.12 Z: 8.04 m/s^2
