diff --git a/skateboard/main/skateboard.c b/skateboard/main/skateboard.c
index 346399b..f0d16e8 100644
--- a/skateboard/main/skateboard.c
+++ b/skateboard/main/skateboard.c
@@ -13,45 +13,12 @@
 
 const char* TAG = "skateboard";
 
-typedef struct {
-    float3 rotation;
-    float3 uncertainty;
-} KalmanState;
-
-static void kalman_update_axis(
-    float* angle, float* uncertainty, float rotation_rate, float rotation)
-{
-    const float time_delta = 0.04f;
-    const float std_div0 = 4.0f;
-    const float std_div1 = 3.0f;
-
-    *angle += time_delta * rotation_rate;
-    *uncertainty += time_delta * time_delta * std_div0 * std_div0;
-    float gain = *uncertainty * 1 / (*uncertainty + std_div1 * std_div1);
-    *angle += gain * (rotation - *angle);
-    *uncertainty *= (1 - gain);
-}
-
-void kalman_update(KalmanState* state, float3 rotation_rate, float3 rotation)
-{
-    kalman_update_axis(
-        &state->rotation.x, &state->uncertainty.x, rotation_rate.x, rotation.x);
-    kalman_update_axis(
-        &state->rotation.y, &state->uncertainty.y, rotation_rate.y, rotation.y);
-    kalman_update_axis(
-        &state->rotation.z, &state->uncertainty.z, rotation_rate.z, rotation.z);
-}
-
 typedef struct App {
     AppWifi wifi;
     AppMqtt mqtt;
     Mpu6050 mpu;
 
-    float last_temp;
-
-    float3 gyro_rotation;
-    float3 accel_rotation;
-    KalmanState kalman;
+    float rotation;
 } App;
 
 #define msg_buffer_capacity 1024
@@ -75,23 +42,11 @@ static void publish_message(App* app)
 
     int msg_size = snprintf(msg_buffer,
         msg_buffer_capacity - 1,
-        "{  gyro: [% 9.4f, % 9.4f, % 9.4f], accel: [% 9.4f, % 9.4f, % 9.4f], "
-        "kalman: [% 9.4f, % 9.4f, % 9.4f] }",
-        app->gyro_rotation.x,
-        app->gyro_rotation.y,
-        app->gyro_rotation.z,
-        app->accel_rotation.x,
-        app->accel_rotation.y,
-        app->accel_rotation.z,
-        app->kalman.rotation.x,
-        app->kalman.rotation.y,
-        app->kalman.rotation.z);
+        "{\"rotation\":% 9.4f}",
+        app->rotation);
 
-#if false
     app_mqtt_publish(&app->mqtt, "/skateboard/update", msg_buffer, msg_size);
-#else
     ESP_LOGI(TAG, "%.*s", (int)msg_size, msg_buffer);
-#endif
 }
 
 static float calculate_accel_axis_angle(
@@ -109,26 +64,7 @@ static void mpu_timer_cb(void* arg)
     float3 accel = { 0 };
     ESP_ERROR_CHECK(mpu6050_get_acceleration(&app->mpu, &accel));
 
-    float3 rotation = { 0 };
-    ESP_ERROR_CHECK(mpu6050_get_rotation(&app->mpu, &rotation));
-
-    float temp = 0;
-    ESP_ERROR_CHECK(mpu6050_read_temperature(&app->mpu, &temp));
-
-    app->gyro_rotation.x += rotation.x * 0.04;
-    app->gyro_rotation.y += rotation.y * 0.04;
-    app->gyro_rotation.z += rotation.z * 0.04;
-
-    app->last_temp = temp;
-
-    app->accel_rotation.x
-        = calculate_accel_axis_angle(accel.x, accel.y, accel.z);
-    app->accel_rotation.y
-        = calculate_accel_axis_angle(accel.y, accel.x, accel.z);
-    app->accel_rotation.z = 0.0f;
-    // = calculate_accel_axis_angle(accel.z, accel.x, accel.y);
-
-    kalman_update(&app->kalman, rotation, app->accel_rotation);
+    app->rotation = calculate_accel_axis_angle(accel.x, accel.y, accel.z);
 }
 
 void app_main(void)
@@ -149,8 +85,8 @@ void app_main(void)
     };
     ESP_ERROR_CHECK(esp_timer_create(&mpu_timer_config, &mpu_timer));
 
-    // app_wifi_init(&app.wifi);
-    // app_mqtt_init(&app.mqtt);
+    app_wifi_init(&app.wifi);
+    app_mqtt_init(&app.mqtt);
 
     ESP_ERROR_CHECK(mpu6050_init(&app.mpu));
 
@@ -162,8 +98,7 @@ void app_main(void)
     ESP_ERROR_CHECK(esp_timer_start_periodic(mpu_timer, 40000));
     vTaskDelay(pdMS_TO_TICKS(100));
 
-    // app_mqtt_subscribe(&app.mqtt, "/skateboard/configure", configure_cb,
-    // &app);
+    app_mqtt_subscribe(&app.mqtt, "/skateboard/configure", configure_cb, &app);
 
     ESP_LOGI(TAG, "Initialized");
     ESP_LOGI(TAG, "Free memory: %" PRIu32 " bytes", esp_get_free_heap_size());
@@ -171,6 +106,6 @@ void app_main(void)
     while (true) {
         publish_message(&app);
 
-        vTaskDelay(pdMS_TO_TICKS(200));
+        vTaskDelay(pdMS_TO_TICKS(100));
     }
 }