I am using the ITG3200 3 axis gyro chip and an LSM303 magnetometer/accelerometer.
They are working quite well, and I believe Sparkfun and Pololu have implementations of both on carrier boards.
I just sent you a Friend request, I think if you reply to that we can exchange email within the forum. I know I have an inbox. I will see what the address is and send shortly.
OK, EMAIL works once you have be friended someone. An outline of this H Bridge, it is using a $5.00 control chip and 4 large NFETs. The control chip is for this application and has several failure mode protections. Once we establish an email path I can send you a schematic and we can discuss.
You should have received a message/email from me in the email acct on diy drones.