A Python project used to experiment with the mathmatics involved with calculating yaw, pitch and roll from acceleromter and gyro sensors. ypr.py is used to receive 10 values from the sensor system and store it in a file called raw.txt. From there, filter.py reads the values from raw.txt and outputs various text files with processed values. These text files are used by the gnuplot scripts, to draw graphs which helps in visualising the values.