Selfmade Tilt compensated Compass Pitch, Roll, Yaw

Yeah that ought to work, although some proper math should do the trick without it (can't be that hard). An accelerometer has one downside, it's always relative.. so you'd need to be certain of a certain state, moving or non-moving.. which is already relative by itself. So if your GPS-module tells you you're not moving you could calibrate the accelerometer, so you know the speed and state relative to the earth.