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: