Herein lies code for estimating the orientation of a gyroscope and accelerometer using a Kalman filter. An Arduino sends the sensor measurements through a serial port to a Python program that implements the filter.
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Gyro.cpp
Gyro.h
KFGyroAcc.py
KalmanFilterBasics.pdf
README.md
gyroAccKFExample.ino
keywords.txt

README.md

Gyro.h, Gyro.cpp, and keywords.txt should be placed in the Arduino libraries folder. The folder should be named Gyro.

For some reason, the Python code crashes the first time it is run. It should run properly on the second time.