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Hi Rei,
Some suggestions
a) Use a good and powerfull MCU as preprocessor, in a way that it possible to add more sensors and actuators.
A good general purpose preprocessor with a library set could be very usefull.
b) Use for the communication between the TX-C and the MCU the same format for the command set as the BT and Radio call is using.
This will leave the option open to replace the I2C with an RS232 and connect this unit with the Robo Interface and with a PC too.

For processing sensor data there exist special MCU series, namely the DSP (digital signal processing) series.
About DSP exist some very nice books.
They are offering a special instructions set with atching DSP-software libraries.

However to create filters. PID etc this is almost a must.
Microchip is offering libraries and tools, some are for free.

Hm, I tried the double integration of acceleration data but I was very disappointed. Noise does not filter out (there is no division by the number of samples), instead the integrators generate a random walk. I did not try fancy filtering algorithms though.