Interactive parameter tuning

[LuSeKa]

Enable tuning the paramters via an interactive serial connection (instead of compiling and uploading).
Ideally, have them stored permamently in EEPROM so that no compilation is necessary to change parameters at all.

[CrispyFungus]

Hello Lukas,
I'm Jason from Colorado, and have built a ride-on segway using your code, the same BNO055 IMU, Odrive (56V) and adafruit metro mini (since I do not need interrupt pins). The issue I am having is that when going forward, the vehicle responds as it should, but over time (10 seconds or so) it keeps leaning more and more forward, and when I stop the vehicle by leaning backward, the vehicle is not level anymore, but balancing as it should. when I stay in one spot for a while, the vehicle slowly eases up on me and goes back to level. Do you know what parameters would cause the vehicle to lose it's perception of level over time, and then slowly correct itself?