Camera Stabilizer with MPU6050 IMU

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hi guys,
i designing new camera stabilizer arduino uno , mpu6050.
basically i've finished 4 steps camera stabilizer.
1:find i2c address mpu6050
2:get raw values mpu 6050 convert meaningful data.
3:get roll , pitch values accelerometer , gyroscope.
4:use kalman or complementary filter better result.
finally implement pid system.
do have idea how implement ?

you use pid library.

http://playground.arduino.cc/code/pidlibrary
http://playground.arduino.cc/code/pidautotunelibrary


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