Is this the right kind of xyz sensor for a UAV? https://www.sparkfun.com/commerce/product_info.php?products_id=847

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That's a dual axis sensor, what you're looking for is a triple axis accelerometer.
Not to confuse it with the X, Y, Z sensor of the FMA X, Y, sensor and Z vertical sensor used with ArduPilot.
Hi!!! i think what you are looking for is it:

http://www.sparkfun.com/commerce/product_info.php?products_id=9038

regards
Danilo.

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