The driver is for the wii-remote, so get 1 byte for x-, y- and z-axis. Based on this values I will calculate the pitch = atan2(y, sqrt(x^2+z^2)) and yaw = atan2(z, sqrt(x^2+y^2)) I know that I can place all these stuff in userspace, but it have place it into kernelspace, it's for studies.