I would like to calculate racing motorcycle lean angle but my trig is very rusty. Data I can supply for the calculation includes 3 axis of G, 3 axis of gyro (rate of change). The gyro drifts with time as all gyros do. I also have 2 wheel speeds and GPS speed available. There are maths functions available for integration and differentiation among others.There would obviously have to be a correction put in for lateral G as the sensor is fixed on the bike. A further interesting addition would be a compensation for the banking of a track surface. Any help in this area would be greatly appreciated.