complemantary filter with mpu6050 help ?

[koray692]

hello friends I am working to apply second order complamantary filter my imu but I couldnt know it works enough well or not I take a video which shows the two angle in the lcd first row shows with filter result and below one is shows just accelometer results.how can ? know the this system work well or not ?
// k=15 ,  ACI_ACCx=angle of acc  ACI_GYROx=angle of gyro  dtc2=0,01

x1 = ( ACI_ACCx -   x_angle2C)*k*k;
y1 = dtc2*x1 + y1;
x2 = y1 + ( ACI_ACCx -   x_angle2C)*2*k + ACI_GYROx;
x_angle2C = dtc2*x2 + x_angle2C;

video : https://drive.google.com/file/d/0B2zny8J1mP-cWGxMMTBkaWNYNDg/view?usp=sharing