There is a water line.  Are you sinking or swimming.  With the skateboard, no matter what I try, I think I'm sinking.  I feel stupid doing this.  Nothing I do seems to fix the issues I'm having.  I also think it has officially gotten to the point where I can say it isn't fun anymore.  Tweak this, tweak that, with very little instant gratification. 

Right now the skateboard acts like some that is bipolar and has a seizure every 2 seconds.

Kalman filter v2 in my opinion is too slow to react.  It may be due to my var's I use to initialize it.

I did some research and found the PID wikipedia page.  I may adapt my system to fit more of this.

Some Pseudo code from the wikipedia page:

start: previous_error = error or 0 if undefined
   error = setpoint - actual_position
   P = Kp * error
   I = I + Ki * error * dt
   D = (Kd / dt) * (error - previous_error)
   output = P + I + D wait(dt)
   goto start

It also has some sweet links, I will read "PID without a PhD" first.  Maybe I'll feel slightly less dumberer and will be upgraded to just dumb.