Hi, Sorry to join this thread so late in the piece. I am slowly making progress on a similar project but to stabilise a quad copter. I have gathered snippets of code and ideas from all sorts of places, most notably a UAVP project in Europe. It is worth a google of UAVP and a look at their site if you have not already done so. They make a lot of their code available and there are lots of clues there on how to decode the stream and in fact to deal with sensors you mentioned above. I am now at the stage where I have the raw RC 'stick' values captured and have mastered comms with the sensors. When you get to the point of dealing with PID code etc, would love to compare notes.