1.Target: 2.realizing: 1.adding black box for gaxyz 3.problem: 1.the accelerometer do not need that much frequency to sense data. 4.reason: 5.todo: 1.optimization 2.quick back to middle position,when expectation in engineering zero but actual angle does not in engineering zero,we decrease P of gyro by a multiplier in proportion to error of angle 6.phenomenon: 7.solutions: 8.exception: postscript: