I'm a student, currently doing my A2 level systems and control project, a quadcopter. I'm using a leonardo, with an MPU6050 and the rest of the standard quadcopter kit. The program is the focus of the project, as I'm basically writing it from scratch, but I've hit a bit of a brick wall when it comes to applying yaw control to the system. I can read the MPU6050 fine, but I'm unsure whether to use the Z axis gyro or accelerometer. And from that also unsure of how to apply it. Any ideas? The quad will be + configuration (much easier to program). I know the likelihood of it actually working is very slim, but I'm aiming to get as far as possible. At some point in the near future I will post pictures and code (everything works on its own so now is a matter of combining!) Any help would be hugely appreciated.