How to use tcleg's complementary filter with an Arduino and the LSM6DS3 motion sensor.

adruinoCompFilter.ino

// This gist uses this sensor https://learn.sparkfun.com/tutorials/lsm6ds3-breakout-hookup-guide
// with this filter https://github.com/tcleg/Six_Axis_Complementary_Filter
// to give you angles according to the X and Y axes

/******************************************************************************
Filter Arduino hookup guide by Vlady Veselinov,
******************************************************************************/

#include "SparkFunLSM6DS3.h"
#include "Wire.h"
#include "SPI.h"
#include "six_axis_comp_filter.h"

LSM6DS3 myIMU; // Default constructor for the motion sensor


// (below) Constructor for the Complementary Filter CompSixAxis(deltaTime, tau)

// deltaTime - The time delta update period expressed in seconds. This value
//             should be set to how often the filter is updated with new values,
//             which should be on a regular interval. The smaller this value is,
//             the less noise there will be on the comp. filter's output.
//
// tau - Max allowable time until gyro drifts too far and comp. filter
//      shifts its weight to the accelerometer expressed in seconds. This
//      value is usually based on the drift rate of the gyro. For example,
//      if the gyro drifts at a rate of 0.5 degrees per second and the
//      tolerance of max allowable drift is 1 degree, then tau should be set
//      to 2 seconds as it will take 2 seconds to drift 1 degree. The larger
//      this value is, the less noise there will be on the comp. filter's
//      output. In exchange, it will drift further from the correct angular
//      position.
CompSixAxis CompFilter(0.1, 2);

float accelX, accelY, accelZ, // variables to store sensor values
      gyroX, gyroY, gyroZ,
      xAngle, yAngle;       // variables for angles calculated by filter

void setup() {
  Serial.begin(9600);
  
  //Call .begin() to configure the IMU (Inertial Measurement Unit)
  myIMU.begin();
}


void loop() {
  //  Get all motion sensor (in this case LSM6DS3) parameters,
  //  If you're using a different sensor you'll have to replace the values
  accelX = myIMU.readFloatAccelX();
  accelY = myIMU.readFloatAccelY();
  accelZ = myIMU.readFloatAccelZ();

  gyroX = myIMU.readFloatGyroX();
  gyroY = myIMU.readFloatGyroY();
  gyroZ = myIMU.readFloatGyroZ();

  // Convert these values into angles using the Complementary Filter
  CompFilter.CompAccelUpdate(accelX, accelY, accelZ); // takes arguments in m/s^2
  CompFilter.CompGyroUpdate(gyroX, gyroY, gyroZ); // takes arguments un rad/s 
  CompFilter.CompUpdate();
  CompFilter.CompStart();

  // Get angle relative to X and Y axes and write them to the variables in the arguments
  CompAnglesGet(&xAngle, &yAngle);

  Serial.write(xAngle);
  Serial.write(yAngle);
}

thanks!

hello, let's see if you can help me compile the code give me the following error
'CompAnglesGet' was not declared in this scope

Solved. Must be:
CompFilter.CompAnglesGet (&xAngle, &yAngle);