I would like to calculate motorcycle lean angle. I have various inputs available including front and rear wheel speed, 3 axis of G form a sensor fixed near the COG of the bike, gyro in 3 planes. The gyro drifts as all gyros do so a simple integration of the gyro rate of change is unsatisfactory. A second interesting additional calculation would be to include the road slope angle in the equation so that the angle of the bike is directly in relation to the slope of the road. Any help would be greatly appreciated.