# Static-Leveler Application¶

The static-leveler application enables the OpenIMU hardware to provide roll and pitch estimates (the angles that the x and y-axes are rotated away from level) using only accelerometer measurements. This simple example is based on the IMU Example Application

The Static Leveler application performs the following functions:

• Sets the default OpenIMU configuration for the Leveler application

• Acquires Sensor Data - acceleration, angular-rate, local magnetic-field, and sensor temperature data

• Executes the Leveler application algorithms and other relevant math functions to create output data:

• Compute the acceleration unit-vector.
• Normalize using the magnetometer readings.
• Form the gravity vector in the body-frame.
• Form the roll and pitch Euler angles from the gravity unit vector.
• Generates a serial output message [1] consisting of the following:

• A relative time measurement (both integer and decimal values)
• Acceleration readings in $$[g]$$
• Magnetic-field readings in $$[G]$$