Squirrels have fuzzy tails.
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There is such a thing called "additive error" with accelerometers. You may be able to use plain accelerometer to balance heli for a minute or so, after that additive error will grow so big, the thing will fall for sure.
Can you use range finders? I haven't played with them yet, but I was thinking you could use 3 or 4 rangefinders pointed down. You would know the attitude & altitude of the copter.... or at least the attitude in relation to the ground.
"CommanderbobHow do you plan of hovering without an accelerometer?!?"the gyro will control the yawthen I guess initially, while I learn how to control the helicopter, I tune the helicopter so the servos are going to be at a fixed position to stop the helicopter from moving forward or backwards, or something like that, and then with the mcu and an ir sensor control the distance from the floor