If in regards to the budget for the programming, I would like to know the scope of the work that has to be done and then go from there.
I understand that the first problem will most likely involve adding some sort of room for error in the gyroscope reading before servo motor response, I simply don't have enough C knowledge to implement it, and the second problem would most likely involve calibration of Gyroscope which could be either as simple as adding calibration code in the beginning of the whole code or something much more complex.
If anyone who understands what it will take, I would like to discuss the scope of work, to pay most likely hourly. I'm simple lost in this case.