it seems very jumpy, I just incorporated an exponentially weighted moving average for the compass heading and hopefully that will stabilize it a bit. Playing with it in house it seems much more stable, although it does lag behind about 200ms instead of 50ms now, which is less than desirable but it might be necessary for fluid motion.
With the jumpiness we can't get very accurate readings or smooth motion. I have lots of videos of the movement as is but it's kind of crappy.
it's 30 degrees out now so i'm going to continue testing some other time.