Hi Alex,
The problem with measuring tilt using the method you proposed is that acceleration is a 3-dimensional vector. As such, the acceleration may contain a component in the direction of gravity, leading to an inaccurate estimation of tilt.
You can use "imufilter" function in MATLAB to estimate the tilt, as shown in the example below. However, it requires the readings from both gyroscope and accelerometer.
openExample('shared_positioning/EstimateOrientationFromIMUDataExample')
You can refer to the following documentation to learn more about the "imufilter" function:
Hope this helps.
