AirQ

Thanks again for the help. Looks like this is more of an electronics discussion rather than unstable aerodynamics discussion. I might start a separate thread on microprocessors.

But at least one more question, please.

How are the AD gyros for drift? A couple balancing robot pages say that both a gyro and an accelerometer are needed along with a Kalman filter to obtain accurate orientation data. I am willing to learn how to program and implement a Kalman filter, but I have never used one before. The datasheet for the ADXRS300 indicates low drift, so I thought this would not be a problem.

Thanks for any advice on a gyro/accelerometer combo or on the Kalman filter.