Kas,
I am confused, on the let's make Robots site, you stated that thanks to Dallaby your robot balances. Now, Dallaby uses a complementary filter. You mention you are using a Kalman filter. So, is this the case, if so what is the contribution from Dallaby?
I am asking because I am trying to start similar project and not sure whether to spend more time trying to be able to run the kalman routines or go ahead with the complementary filter. Several sites talks very good about this simpler approach.
Thanks !