Thanks Lauszus , sorry to be a pain but this is very new to me, the only thing i have a problem with is, is where in the sketch, is the best place to put the servo write command, at the moment i am using this line from another post.
servo1.writeMicroseconds(1560+kalAngleX*9.55);
i have tried it in various positions within the loop function, and all it does is send the servo full one way , i am getting data on the serial moniter.
Thanks