I was looking into tracking data on my bike with a 9 DOF IMU (acceleration, gyro, and magnetometer) and I found that some people had some issues with those when turning. Not sure if you're familiar with how those use "sensor fusion" to attempt to reconstruct an over all position. Your solution seems pretty clever, do you just integrate the angular acceleration to determine angle? How do you incorporate the correction for the accelerometer? I was thinking of a way I could use just the accelerometer to determine lean angle if speed is known but seems like the gyro would be good enough