Yes 328 it is, my CG is as much as possible on the middle part, it's pretty well balanced, i wrote the columns but as i recon they didnt save... so its like this: accX/gyroX/KalmanXangle/PD output
i'll try the mods u've suggested, the pwm values are the same for mine to, right?
and one more thing the PmodHB5 doesn't give information on the max frequency, how do i find it? i saw ur's is 20kHz... i dunno my max...