Here is another one of my boring tests. I don't see it getting much mroe stable. I successfully killed some of the z axis soft bounces I was getting while walking. I still don't see a difference with the 2nd IMU. IMO it is not important. I still have yet to be able to tune the rig where the roll can go past 90 degrees in either direction without starting to lose control. It is quite pointless though. when will you ever hold a rig past 90 degrees on the roll? never. here you go: