Anti-tipping algorithm

[Gdeaver]

As Jared mentioned, a pure accelerometer solution is going to have noise and accelerations in it. Filtering can clean it up some what to give an estimation of gravity but the robot acceleration is still there. The advantage to the Navx MXP is that the chip handles the fusion of 3 a axis accelerometer and a 3 axis gyro.
It also can fuse a 3 axis magnetometer also but we do not use the mag. Pitch and roll are very solid and excellent for this use. Yaw is another subject. In it's current form the Navx MXP does need to be horizontal.