How about replacing current version that uses unfiltered acc data with something like this?
https://code.google.com/p/afrodevices/s ... ail?r=415#
if ((int16_t)EstG32.A[2] > ACCZ_25deg)
f.SMALL_ANGLES_25 = 1;
else
f.SMALL_ANGLES_25 = 0;
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