modify arduino software for Stewart Platform - incorporate IMU for autoleveling

Scope - deliver 2 Arduino Uno software versions to drive two stewart platforms and duplicate the demonstration shown in this video:[login to view URL] Modify the open source software for operating a stewart platform provided by this site [login to view URL] [login to view URL] Assume same stewart platform will be used as shown in the above referenced links. Delivery Version 1 -integrate an IMU similar to [login to view URL] The requirement is to develop software for a self leveling 6 degree of freedom platform (as he base of the platform tilts, the top platform auto levels) to achieve roll pitch heave compensation as demonstrated in minuted 2:00 of this video [login to view URL] and this video [login to view URL] Note 1 - remove the Infra Red controls in the open source software. Note 2 - provide fully commented software. Note 3 - identify within the software all angles and arm length that can be changed based on different (sized) stewart platforms. Delivery version 2 - provide a version of the software that can run in a auto demo mode exercising roll/pitch/heave on a 2nd stewart platform using Arduino uno or recommended version of Arduino AND switch to joystick control to manually exercise roll/pitch/heave. Note 1 - remove the Infra Red controls in the open source software - add joystick control and an auto demo mode. Note 2 - provide fully commented software. Note 3 - identify within the software all angles and arm length that can be changed based on different (sized) stewart platforms. Please provide hours/cost estimate or fixed price and delivery time frame - software only. If you can demo the working stewart platforms/software in your shop that will greatly help in your selection for this project.