John,
Snap! I'm in the process of packing up our house in tropical WA at the moment ready for the move to a new property in Tasmania. Bought a nice place on 2 acres with a 6x6m shed just for me to play in without ever being able to go over and see it! Covid has made us all do things we'd never have believed possible a year ago.I'm sooooo looking forward to the cooler climate. I'll also be a quik ferry ride from Melbourne so Might make it over to your model engineering exhibition one year.

Not entirely sure if this is what you want, but the chip you might be looking for is possibly one of these. The acelerometer is mainly used to correct for drift in the gyro (or is it the other way round?) hence the combined unit on one chip. There's loads of software examples for using these beasties, mostly on threads about self-balancing machines. Let me know if thi is the right thing and I'll look up some of the info I have. I've got one of these chips as part of a long-term plan to build my wife a self-balancing wheelchair.

https://www.sparkfun.com/products/11028

Kit