[tseres]

not sure, but could you offset or blend the gyro values with the accel values to give heading? or for every degree off on the accel, take a percentage off of the gyro value. although, unless your robot is on its side, there shouldn't be too much drift or error in the gyro. honestly, for most applications you should be fine. it's kind of like a compass: it's accutate until you're near the earth's poles, then it's useless. my guess is that there shouldn't be much gyro error on a slant, but if there is, i can't really see how an accel would help that much....i'm guessing that a gyro would be sufficient; i havn;t heard of any complaints of drift....

if worse comes to worse, juat make a joystick button that, when pressed, resets the gyro heading angle. that way, if something really goes wrong, you could reset it. or, a fail-safe for that, substitute raw joystick values to the motor, skipping the gyro completely.