Hi Jawood (or Mark),
I've found the complimentary filter in the inclinometer script still has a big drift in it (which I think is coming from my gyro readings). From your comment above, it seems like you've modified the script to work with a kalman filter. Do you still have that code? Or is there another way I can get a better reading for use in this inclinometer example?
I've never coded in C and tried to modify the script to use KFangleX and KFangleY but I must have made some errors as it wont compile.