I was thinking of using Raspberry Pi Sense HAT as my IMU. Unfortunately, it’s on a backorder and now being delayed for another two weeks. Since I’m impatient, I started looking for an alternative. I came upon BNO055 Absolute Orientation Sensor from Adafruit. It seems to have everything I need, it’s small, has it’s own fusion processing and they have written a Python library for it, so I don’t have to do my own, which is nice. It doesn’t have a barometer, but from everything that I’m reading, the barometer might be of little use for accurate altitude measurements on my scale anyway. I’ve ordered this IMU and will be working on the other parts of the project for now.