I've been using a 75 deg/sec yaw sensor because I need the sensitivity. The guys that have inverted pendulum robots usually use one gyro and two accelerometers to determine the angle. The gyro provides quick reactions, and the accelerometers calibrate where vertical is, and eliminate the drift and bias that a gyro has. They get coupled with a Kalman filter. You might want to look into building a board with a single or dual axis gyro and a 2 or 3 axis accelerometer all on one board. Just an idea.