--- a/robot.py	Sun Oct 12 12:39:17 2014 +0200
+++ b/robot.py	Sun Oct 12 12:39:26 2014 +0200
@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 
 import itertools
+import math
 
 import pygame
 
@@ -64,6 +65,12 @@
             sensors[6],   # temperature
         ]
 
+    def get_attitude(self):
+        ((ax, ay, az), (gx, gy, gz), tmp) = self.get_accel()
+        roll  = math.degrees(math.atan2(ay, az))
+        pitch = math.degrees(math.atan(ay / math.sqrt(ax ** 2 + az ** 2)))
+        return (roll, pitch), (gx/ 16384, gy / 16384, gz / 16384)
+
     def get_battery(self):
         return float(self.legs[0].hip.get_battery() -
                      self.battery_min) / (self.battery_max - self.battery_min)

--- a/show_accel.py	Sun Oct 12 12:39:17 2014 +0200
+++ b/show_accel.py	Sun Oct 12 12:39:26 2014 +0200
@@ -15,6 +15,8 @@
     def circle(self, screen, (x, y, z), c, m):
         x = m + int((x * m) / 16384)
         y = m + int((y * m) / 16384)
+        if z < 0:
+            c /= 2
         z = max(2, int(abs(z * m) / 16384))
         pygame.draw.circle(screen, c, (x, y), z, 2)
 
@@ -23,6 +25,8 @@
         xsize, ysize = screen.get_size()
         while True:
             accel, gyro, temp = robot.get_accel()
+            accel = accel[1], accel[0], accel[2]
+            gyro = gyro[1], gyro[2], gyro[0]
             screen.fill(0x000000)
             self.circle(screen, accel, 0xff0000, 100)
             self.circle(screen, gyro, 0x00ff00, 100)