I wanted to share my experience trying to get a lean angle sensor that would be easy to set up and accurate enough for traction control applications plus others.
I first tried the Bosch m5.10 imu. A very good sensor but to get it to produce an accurate lean angle with maths became very difficult. The maths were extreme and never seemed to work correctly. This sensor is used by most of the major manufacturers so it can be done but I could not seem to get it to work 100% without getting errors.
I ended up searching for something else and I came across the gripone imu can. It cost the same amount as the Bosch sensor but it puts out a very accurate lean angle,pitch angle plus the usual xyz and ryp. No maths needed just wire it up and your ready to go. In my testing I did not encounter the usual errors and drift the Bosch sensor would experience. It also would never get lost and give false readings. Seems to be exactly what I was looking for.
So if anyone is looking for a good imu I would look into it.