[EricVanWyk]

What exactly are you trying to do?

Combining a singly gyro and a single accelerometer is fantastic for giving position and direction on a non-holonomic (aka KitBot) robot. Unfortunately, it doesn't sound like that is what you want.

Canceling noise is hard. Canceling drift is harder. Noise assumes that the data we are getting back is essentially Gaussian, which means we can do fun filtering . Drift is inherently more evil, as it implies that the sensor tends to one side. I don't know of a good way to handle drift without using some side-band information. In other words, if your sensor has drift, something else better compensate for it.

One thing you might consider doing is finding out when you KNOW your gyro better be reading 0s. If you ain't moving, you ain't spinning. Perhaps you should keep a note of how your gyro handles sitting still, convert that to a DC offset, and subtracting it out.

Another method (less good) is to make your accelerometer into a craptacular gyro. Place it as far forward or backward as you can, in the middle of the bot, and rotate it to point side to side. Now when you spin, the accelerometer picks it up. However, it also picks up when you get slammed into, and it totally bombs for accuracy because it in no way compensates for your turning radius.

More info = more answers.