Hi Dirk,
That's absolutely great!
I haven't had time to work on mine for a while. I did get it to balance fairly well using the SHARP sensors though but nothing have been done to it since then.

So based on your experience (and mine, so far) I think that we can rule out using just an acceleromter or gyro. I kind of had that feeling from the begining but was I would be glad to be proven wrong.

Now, if we only could port that filter code to PBP. Hmmm...I wonder if there's a way to compile just the filter code and use the assembler code from within PBP.

Thanks for the update, I appreciate it!

/Henrik Olsson.