Hey, I have worked with this kind of IMU devices, and I had similar issues. I figured a solution out and was a IIR filter implementation. Also, as a firmware engineer I have experience dealing with shortage of memory.
I will let you my profile in case you get interested
1. Product design for motorcyclist mobility solutions. Optimal solution found for product location (expected to be located on motorcyclist helmet) depending antenna radiation patterns. PCB design and manufacturing experience.
2. Sensor calibration experience. Statistical treatment of collected data experience. Report presentation experience. Software debugging experience. Board Support Package (BSP) design experience.
3. Design of hardware testbeds for IoT devices and general hardware.
4. Design of software tests under Test Driven Development(TDD) approach. Unit test design. Continuous integration implementation by open-source alternatives and Microsoft solutions as well. Kanban, Scrum and agile strategies experience.
5. Orientation in workshops experience, handling engineers group of 7.
6. Linear programming experience (Optimization): Optimal space distribution of devices according to current regulations. Power consumption minimization.
7. Repository administration experience. Git-oriented: Mercurial, CSV, git.