This app was mentioned in 1 comment, with an average of 1.00 upvote
if able, take a look at this app (not mine). It's remarkably stable for what it has to use. Calls out a Kalman filter (I've read up on it and Madgwick), are these complementary filters, should we use both?https://play.google.com/store/apps/details?id=com.ixellence.ixgyro.android.demo&hl=en