[nathanww]

By the time aX is showing roll that stands out above the noise floor, isn't your robot in a pretty precarious situation already? I mean, that means that you've both already started to list, and you're not in a position where it can be quickly corrected(the robot has to turn first).

I'm thinking about maybe a hybrid strategy--if the 1g from earth's gravity drops, the robot automatically checks its heading and corrects using a gyro. Of course, this has the same issue with having to integrate the gyro value over the course of a match. Maybe a digital compass?