I'll try to make an ascii diagram of what might be something you could use (note: this is VERY, VERY rough, and I am not sure that it would work):
The program segment for this would be:
Gyro VAR word
high 1
pause 1
low 1
rctime 2,1,Gyro
And Gyro would be a reading that you could monitor and play with to see what tilt rate corresponds to what value, and your servo can adjust from there. It would be simpler than using an AD converter, but it would not be as accurate. This is just the ignorant way that I would try to do it
