I'm about 99% sure the gyro on my IMU is dead.  Gotta call up SparkFun on Monday to see what I can do to.  The accelerometers work but this could explain why I never was able to get the skateboard to work.

How did I realize this?  With the increased logging and now visuals on the debugging app I wrote, I came to this conclusion.  To verify it wasn't my app too, I hooked it into SparkFun's application and verified this.  No matter how hard I shook, it didn't radically change.

This could explain why the Kalman filters didn't work since they use data from the gyros.  Also this would explain why the skateboard work before.  I always thought it was sluggish.  It heavily favored the gyro and without a gyro working, it couldn't detect a fall.  I also wonder if this is why the values for my accelerometer fluctuate and need to be reset every so often.

I could "mock" in a gyro I think my saying "old angle" and "new angle" with the change in time.

<clintSwearTime>
Frack, 'eff'in frack frack double mofo frack 'eff'in frack and doo doo and poop.
</clintSwearTime>

I have to ship the skateboard out no matter what on Wednesday if it is to get there.  I could always bring it on the airplane with me.  Wonder if I can't do a gate check.  But god knows this beast looks under an x-ray.

So to recap, I have to fake a gyro in my system in 2-3 days.  Sweet man, real sweet.