[RoboMaster]

Wow, your post brings up some good points. You're right, the gyro would eliminate a lot of problem from the accelerometer. I forgot that the accelerometer responds to motion (i.e. acceleration), not just the force due to gravity.

Another thing I thought of is that when the bridge stops tipping and slams down to a rest, there will be a spike in acceleration. This will be positive (upwards acceleration to bring downwards velocity to zero), and it will appear that the robot is angled, allowing the drive motors to move, or jerk for a moment. Of course the robot will roll and send the bridge off-balance if the jerk is large enough (I'm sure it would be).

This movement makes everything more complicated. I wonder if that means the gyro is the way to go for this task?