Hello again,
I've just fixed some daft errors in the gyro and radio control code, it should now behave more sensibly.
The Z axis gyro uses a really ugly hack to make the kalman filter work without an angular input - but it works remarkably well. I'll look into getting a compass or using the heading from GPS - this will make the rotational readings much more accurate, and a heading would make position hold even more usable. I hope to make the new kalman code soon - it's going to be one big filter rather than one per axis - this will hopefully have more resistance to noise from other axes and should run faster too.
Alpha3 has been updated with these changes - anyone experiencing difficulties with RC or gyros should grab a new copy from my site.
