// Вот такой код получился
#include <Wire.h>
#include "Kalman.h"
#include <Servo.h>
Servo myservoX;
const int CH2 = A2; // Элерон, второй канал на А2
Kalman kalmanX;
Kalman kalmanY;
uint8_t IMUAddress = 0x68;
/* IMU Data */
int16_t accX;
int16_t accY;
int16_t accZ;
int16_t tempRaw;
int16_t gyroX;
int16_t gyroY;
int16_t gyroZ;
double accXangle; // Angle calculate using the accelerometer
double temp;
double gyroXangle = 180; // Angle calculate using the gyro
double compAngleX = 180; // Calculate the angle using a Kalman filter
double kalAngleX; // Calculate the angle using a Kalman filter
uint32_t timer;
int gorizont = 90; //

void setup() {
  Wire.begin();
  pinMode(CH2, INPUT);
  myservoX.attach(8); 
  i2cWrite(0x6B,0x00); // Disable sleep mode     
  kalmanX.setAngle(180); // Set starting angle
  timer = micros();
}
void loop() {
  /* Update all the values */
  uint8_t* data = i2cRead(0x3B,14);
  accX = ((data[0] << 8) | data[1]);
  accY = ((data[2] << 8) | data[3]);
  accZ = ((data[4] << 8) | data[5]);
  tempRaw = ((data[6] << 8) | data[7]);
  gyroX = ((data[8] << 8) | data[9]);
  gyroY = ((data[10] << 8) | data[11]);
  gyroZ = ((data[12] << 8) | data[13]);
  /* Calculate the angls based on the different sensors and algorithm */
  accXangle = (atan2(accY,accZ)+PI)*RAD_TO_DEG; 
  double gyroXrate = (double)gyroX/131.0;
  gyroXangle += kalmanX.getRate()*((double)(micros()-timer)/1000000); // Calculate gyro angle using the unbiased rate
  kalAngleX = kalmanX.getAngle(accXangle, gyroXrate, (double)(micros()-timer)/1000000); // Calculate the angle using a Kalman filter
  timer = micros();
    int xx=(int)kalAngleX-gorizont;
//    if ( xx<1 ) xx=0;
//    if ( xx>179 ) xx=179;
myservoX.write(xx);
int chVal2 = pulseIn(CH2, true, 25000); //считываем из приемника
if (chVal2 > 500){
gorizont = map(chVal2,1000,2000,0,179); //изменяем диапазон
}
//  timer = micros();
  // The accelerometer's maximum samples rate is 1kHz
}
void i2cWrite(uint8_t registerAddress, uint8_t data){
  Wire.beginTransmission(IMUAddress);
  Wire.write(registerAddress);
  Wire.write(data);
  Wire.endTransmission(); // Send stop
}
uint8_t* i2cRead(uint8_t registerAddress, uint8_t nbytes) {
  uint8_t data[nbytes];
  Wire.beginTransmission(IMUAddress);
  Wire.write(registerAddress);
  Wire.endTransmission(false); // Don't release the bus
  Wire.requestFrom(IMUAddress, nbytes); // Send a repeated start and then release the bus after reading
  for(uint8_t i = 0; i < nbytes; i++)
    data [i]= Wire.read();
  return data;
}