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Although this project is marked complete, as we all know are they ever really complete?? Anyway I again used the arduino UNO as my microcontroller as I really love their products..I have also used the SparkFun 9DoF sensorstick for the gyros,accelerometer, and magnetometer.. I used the FreeIMU code to read the sensorstick and produce a filtered yaw/pitch/roll angles.. They really did a great job and I didn't feel the need to attempt to reinvent the wheel on that as I have already ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/xcopter-i-am-horrible-with-original-names