diff --git a/+math/IntSignals.m b/+math/IntSignals.m
index fcbeba5540b413a9ea41344bac1677b9e871493b..c1e513335077178dbb2badb82f404cc1d924f444 100644
--- a/+math/IntSignals.m
+++ b/+math/IntSignals.m
@@ -14,11 +14,11 @@ unitRotMat=eye(3);
indexes = data.tMiddle(index):data.tMiddle(index+1);
% Rotate the gyroscope data to Foot-frame.
-gyroLocal = (calibration.rotMatrix*data.filtGyr(indexes,:)');
+gyroLocal = (calibration.rotMatrix*data.filtGyr(indexes,:)')';
% Integrate the signals from this orientation, such that everything is
% mapped in that frame.
-rotMatHat = math.intOmega(unitRotMat,gyroLocal',1/data.fs);
+rotMatHat = math.intOmega(unitRotMat,gyroLocal,data.fs);
accLocal = (calibration.rotMatrix*data.filtAcc(indexes,:)')';
diff --git a/+math/intOmega.m b/+math/intOmega.m
index 28fa1257bb70f65d508dae80f16310238cf526c3..5b9c66487709a449008f6ee6473e22277d555b90 100644
--- a/+math/intOmega.m
+++ b/+math/intOmega.m
@@ -1,10 +1,10 @@
-function rotMat = intOmega(initRotMat, omega, ts)
+function rotMat = intOmega(initRotMat, omega, fs)
% intOmega.m - Calculates orientation matrix by integrating gyroscope signal
%
% Inputs:
% initRotMat Initial orientation matrix
% omega Angular velocity (rad/s)
-% ts Sample time
+% fs Sample frequency
%
% Outputs:
% rotMat Orientation matrix [Nsamples x 3 x 3]
@@ -29,7 +29,7 @@ for i=2:N
R = permute(rotMat(i-1, :, :),[2 3 1]);
Rdot = R*permute(omegaMatrix(i,:,:),[2 3 1]); % Integrate R
- R = R + ts.*Rdot;
+ R = R + (1/fs).*Rdot;
[A,~]=qr(R); % create proper rotation matrix
rotMat(i,:,:) = sqrt(A.*A).*sign(R); % get correct sign
diff --git a/README.MD b/README.MD
new file mode 100644
index 0000000000000000000000000000000000000000..91a670ced3bdced2afb028a0a58ef36fb89f715d
--- /dev/null
+++ b/README.MD
@@ -0,0 +1,12 @@
+# Foot progression angle estimation
+
+Uses csv files from Movella DOT exporter to calculate foot progression angles assuming that you provide one calibration trial, see for details also the [publication](https://doi.org/10.1186/s12984-021-00816-4).
+
+The calibration trial should be performed with close to 0 degrees of FPA.
+
+The example files include:
+- calibration
+- toe-in walking
+- toe-out walking
+
+Be aware that `settingsFile.m` refers to the data path to use. When specified just run `main.m` to obtain a structure with the processed files.
\ No newline at end of file
diff --git a/example-files/Left/L_toein.csv b/example-files/Left/L_toein.csv
new file mode 100644
index 0000000000000000000000000000000000000000..567292354763ac6d8eac4b53a4b2020c1c49cc90
--- /dev/null
+++ b/example-files/Left/L_toein.csv
@@ -0,0 +1,3917 @@
+PacketCounter,SampleTimeFine,Quat_W,Quat_X,Quat_Y,Quat_Z,dq_W,dq_X,dq_Y,dq_Z,dv[1],dv[2],dv[3],Acc_X,Acc_Y,Acc_Z,Gyr_X,Gyr_Y,Gyr_Z,Mag_X,Mag_Y,Mag_Z,Status,
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diff --git a/example-files/Left/L_toeout.csv b/example-files/Left/L_toeout.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cdb7e6abb208fd0a52435be1927a210a2eaf991
--- /dev/null
+++ b/example-files/Left/L_toeout.csv
@@ -0,0 +1,3017 @@
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diff --git a/example-files/Left/calibration/L_calibration.csv b/example-files/Left/calibration/L_calibration.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15e3bee2377fca619de236574ad737216099d32b
--- /dev/null
+++ b/example-files/Left/calibration/L_calibration.csv
@@ -0,0 +1,3438 @@
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diff --git a/example-files/Right/R_toein.csv b/example-files/Right/R_toein.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1511cecde13f5134a039bce03b284600348a2ce
--- /dev/null
+++ b/example-files/Right/R_toein.csv
@@ -0,0 +1,3921 @@
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diff --git a/example-files/Right/R_toeout.csv b/example-files/Right/R_toeout.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8b636a91fe77fd19e03a609bfd61db1987dc8ec
--- /dev/null
+++ b/example-files/Right/R_toeout.csv
@@ -0,0 +1,3021 @@
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diff --git a/example-files/Right/calibration/R_calibration.csv b/example-files/Right/calibration/R_calibration.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc7c8ec9a8e56f2cf37173f38b41b51ebb67e5ff
--- /dev/null
+++ b/example-files/Right/calibration/R_calibration.csv
@@ -0,0 +1,3442 @@
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diff --git a/getCalibration.m b/getCalibration.m
index cca60c2e6c0e6b6872a0f6b16d790c57d5c0c18c..6d1e5cf1a0a90e5d5f1a53cb4c175fe432f3802f 100644
--- a/getCalibration.m
+++ b/getCalibration.m
@@ -16,7 +16,7 @@ function dataStruct = getCalibration(filePath, fCutOff)
% Get the current file path and trial name.
currFilePath = [calibFiles(i).folder '\' calibFiles(i).name];
- trialName = ['trial_' strrep(extractBefore(calibFiles(i).name, '.csv'),' ', '_')];
+ trialName = [extractBefore(calibFiles(i).name, '.csv')];
% Load in the actual Movella Dot CSV file.
dataStruct.(trialName) = readDotCsv(currFilePath);
diff --git a/readDotCsv.m b/readDotCsv.m
index 53772867c39337a53307f91f0ea6cbaea55545cb..ff3062b9f67d8b3171c26414339fffe810542f11 100644
--- a/readDotCsv.m
+++ b/readDotCsv.m
@@ -10,7 +10,7 @@ function dataStruct = readDotCsv(filePath)
% Store the data in a useable format.
dataStruct.acc = table2array(currentData(:,{'Acc_X', 'Acc_Y', 'Acc_Z'}));
- dataStruct.gyr = table2array(currentData(:,{'Gyr_X', 'Gyr_Y', 'Gyr_Z'}));
+ dataStruct.gyr = table2array(currentData(:,{'Gyr_X', 'Gyr_Y', 'Gyr_Z'}))*pi/180;
dataStruct.mag = table2array(currentData(:,{'Mag_X', 'Mag_Y', 'Mag_Z'}));
dataStruct.time = table2array(currentData(:,'SampleTimeFine')- ...
currentData(1,'SampleTimeFine'))/1000000;
diff --git a/settingsFile.m b/settingsFile.m
index 029e39e296a2d0de86eff3418125010885a69239..46c29069e21468cbd0745acd1dcdeaad8d358256 100644
--- a/settingsFile.m
+++ b/settingsFile.m
@@ -1,7 +1,7 @@
%% This file contains all the required settings.
% Specify the main direction for the subject data files.
-fileFolder = "C:\Measurements\FPA-measurements\Subject2";
+fileFolder = "C:\Measurements\20230912 - FPA";
% Specify where the calibration folder is, has to be placed inside the
% subject folder.