As I said, mechanical sensors are not a candidate for this project.
Also, there is no manual input accept to yaw.
Yes, I would very much like it to lean in turns but how with bolt upright electronics.
If the thrust vector is offset to either side then the vessel is accelerating in roll and you probably want to try to bring it back into balance.
Peter, what about using differential pressure sensors to measure ride height like I mentioned? Don't you think that would work?