Code for ESP32

#include <Arduino.h>
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_ST7735.h>
#include <MPU6050.h>

// ================= TFT =================
#define TFT_CS   5
#define TFT_DC   2
#define TFT_RST  4

Adafruit_ST7735 tft(TFT_CS, TFT_DC, TFT_RST);

// ================= MPU =================
MPU6050 mpu;

int16_t axR, ayR, azR;     // raw accelerometer data
float pitchRaw, rollRaw;
float pitch = 0, roll = 0;

// filter strength (smaller = smoother)
const float alpha = 0.08;

// screen parameters
int W, H, CX, CY;

// ================= SETUP =================
void setup() {
  Wire.begin(21, 22);
  mpu.initialize();

  tft.initR(INITR_BLACKTAB);
  tft.setRotation(1);

  W  = tft.width();
  H  = tft.height();
  CX = W / 2;
  CY = H / 2;

  tft.fillScreen(ST77XX_BLACK);
}

// ================= READ MPU + FILTER =================
void readMPU() {
  mpu.getAcceleration(&axR, &ayR, &azR);

  float ax = axR / 16384.0;
  float ay = ayR / 16384.0;
  float az = azR / 16384.0;

  pitchRaw = atan2(ax, sqrt(ay * ay + az * az)) * 180 / PI;
  rollRaw  = atan2(ay, az) * 180 / PI;

  // Low-pass filter (removes vibration)
  pitch += (pitchRaw - pitch) * alpha;
  roll  -= (rollRaw + roll) * alpha;
}

// ================= ROTATED LINE =================
void drawRotLine(int x1, int y1, int x2, int y2, float a) {
  float s = sin(a);
  float c = cos(a);

  x1 -= CX; y1 -= CY;
  x2 -= CX; y2 -= CY;

  int rx1 = x1 * c - y1 * s + CX;
  int ry1 = x1 * s + y1 * c + CY;
  int rx2 = x2 * c - y2 * s + CX;
  int ry2 = x2 * s + y2 * c + CY;

  tft.drawLine(rx1, ry1, rx2, ry2, ST77XX_WHITE);
}

// ================= DRAW HORIZON =================
void drawHorizon() {
  tft.fillScreen(ST77XX_BLACK);

  // pitch -> rotation
  // roll  -> vertical shift
  float ang = radians(-pitch);

  static float shiftF = 0;
  shiftF += ((roll * 2.0) - shiftF) * 0.2;
  int shift = shiftF;

  // ===== MOVING HORIZON LINES =====
  for (int d = -40; d <= 40; d += 10) {
    int y = CY + d * 3 + shift;
    int len = (d % 20 == 0) ? 50 : 30;

    drawRotLine(
      CX - len / 2,
      y,
      CX + len / 2,
      y,
      ang
    );
  }

  // ===== CENTER LINE =====
  tft.drawFastHLine(CX - 30, CY, 60, ST77XX_YELLOW);

  // ===== AIRCRAFT SYMBOL =====
  tft.drawFastHLine(CX - 18, CY, 36, ST77XX_YELLOW);
  tft.drawFastVLine(CX, CY, 12, ST77XX_YELLOW);
}

// ================= LOOP =================
void loop() {
  readMPU();
  drawHorizon();
  delay(30);   // ~40 FPS smooth animation
}