*4.2. Test 2*

Test 2 consists of a 360◦ rotation for a given inclination. This rotation starts in a resting position and is performed by increasing the orientation value by one degree every 0.1 s, starting from 0◦. When the rotation is complete, it returns to the resting position. The test was performed for 30◦, 45◦ and 60◦ inclination and results are shown in Figure 20 for the encoder data and Figure 21 for the sensor data.

Test 2—Encoder data

(**a**) Inclination versus time through encoder measurements for 30◦ inclination.

(**b**) Orientation versus time through encoder measurements for 30◦ inclination.

(**c**) Inclination versus time through encoder measurements for 45◦ inclination.

(**d**) Orientation versus time through encoder measurements for 45◦ inclination.

(**e**) Inclination versus time through encoder measurements for 60◦ inclination.

(**f**) Orientation versus time through encoder measurements for 60◦ inclination.

**Figure 20.** Test 2—Encoder data. Fixed 30◦, 45◦ and 60◦ inclination for a 360◦ rotation. The blue line is the experimental data obtained from the encoder and the orange dotted line is the reference.
