"Fuse the ITG3200 with a mag to handle slow rotations. Will it compete with infinite budget 1960s military hardware? Certainly not, but it's still pretty fantastic for $12, compared to what we had 2 years ago."
"Great work, thanks for posting this John. To improve accuracy, we could store the high res data on a PC or cellphone and send relevant sections to the UAV as needed. Perhaps a MAVLink/QGC extension is in order."