"The gyros are subject to drift as well so I'll have to use IR sensors. As for re-working the control loop; I'm looking to build a proof of concept first and would prefer to rework as little as possible. I do moving the center of mass…"

"I stand corrected! Thanks, Jason."

"If this is a rocket, the IMU might not be able to withstand the G forces. An IR sensor would work fine however. If you reworked the control loop you could get a much faster response than 50 hz."

"Ardupilot has slew rate limiting implemented for all of the servos. Just put degrees per second into your PID file."

"Hi Donny, if you want slower movement of your servo (not faster), you can chop the total servo throw up in smaller steps. Every loop of the software will then move the servo a little bit until it reaches the desired position. Cheers"

"Thanks Chris!"

"ArduPilot, like all consumer-grade autopilots, uses regular RC servos. They can control how far they move (degrees) but not how fast."

"Very helpful, Thanks. I'm planning to buy this glider for the flight and I suppose I'll tackle ardupilot in the coming weeks. I'm doing a flight test on the new arduino based telemetry system in the next week or two so I'll want…"

"An AoA sensor was previously discussed briefly and resulted in this link to Charles River's Albatross This is his schematic: http://www.charlesriverrc.org/articles/asfwpp/lelke_alb1electronics.htm This is his AoA Sensor:…"

"Good point. If you can't power on the IMU on the ground, you will indeed be better off with thermopiles (which were actually designed by NASA to work in space!). And yes, in your application you will need a Z. I'm afraid we only sell them…"

"I did mean the Z sensor. My concer with the ArduIMU is that is uses gyros in place of thermopile sensors. My glider will be launched from a high altitude balloon. This means the glider will not be motionless when ardupilot is powered on. It's…"

"I suspect that you would find airspeed to be a sufficient indicator of "angle of attack". if you target an ideal cruising speed, and pull up when faster or drop the nose when slower, you should be able to use the existing airspeed…"

"I don't think you can reliably set a specific angle off level with the thermopiles. They're designed as levelers, not for accurate bank or pitch angle. (Depends on calibration, etc). That's why I recommended using it with ArduIMU,…"

"Cool. Thanks. I think I'll just get the ardupilot board. I happen to have the two axis thermopile sensors Can you buy the Y sensor separately by chance somewhere?"

"Yes, ArduPilot (with ArduIMU) or ArduPilot Mega can do that. You'll have to tweak the code a bit, but it's not hard."