OK here is the final version of the ArduIMU.
-Yellow color = Just Accelerometer read
-Red color= Accelerometer+Gyro+KalmanFIiter
Arduino Source Code:http://jordii07.googlepages.com/ArduIMUFinal.txt
Labview (ground station) source code:http://jordii07.googlepages.com/IMUfinal.llb
I configured Arduino to externally adjust the accelerometer jitter filter and the gyro rate, using the nunchuck potentiometers (joystick axis). Now is working pretty well.
-Integrate another Gyro (to make it dual axis).
-A bank robbery, to buy all the components i need.
-Program the SPI altimeter
-And put all the hardware together and make it work (gps, altimeter, IMU, modem).
-Making a PSP program to read serial data (using psp uart port). :
to make a portable ground station. (but this is a secret)