 
 #if AccelerometerSoftLPFilter
 #include <FilterOnePole.h>
-#define LowpassFreq 0.04
+#define LowpassFreq 0.005
 auto lpFilter = FilterOnePole( LOWPASS, LowpassFreq );
 #endif
 

    mma.setLowNoiseMode(true);
    mma.setPowerMode(MMA_HIGH_RESOLUTION);

    mma.setHighPassFilter(true, MMA_HP4); // Defaults (?) to highest cutoff: 16Hz

#if AccelerometerNewDataInterrupt
    // data ready interrupt


// Accelerometer
auto mma = MMA8452();

// Zero velocity handling
float zeroOffset = 0;
unsigned int zeroResetCounter = 0;
#define ZeroResetCounterEps 0.001
const float ZeroResetDamping = 0.01;
const unsigned int MaxZeroCounter = 1.0 / ZeroResetDamping;

// Zero offset handling
const unsigned int CalibrationSamples = 100;

unsigned long newAccTime;
unsigned int dt;

#if AccelerometerNewDataInterrupt
// tells that accelerometer data is ready (with interrupt)
