The naive method of measuring motorcycle lean angle with accelerometers is to put a 2-axis accelerometer on the bike and measure the angle between the x acceleration and the y acceleration. This only works at a standstill. When the bike is moving, the measured angle would be 0. The purpose of the lean angle is to position the resultant acceleration vector so that it points from the centre of mass to the contact patch of the tyres, otherwise you will fall over. So how can we measure the lean a...
