Building self-balancer for next sem. Gyro drift 1deg/10sec, falls in 30sec on pure integration. Accel-only too noisy.
Weighted (0.98*gyro + 0.02*accel): better, still slow drift.
Kalman math hurts. Complementary filter looks doable. Anyone implement on AVR Uno with 10min+ stable balance?
Side: DMP on MPU6050 supposed to do this. Worth using vs own filter?