Analizing the entire code

Hi to everyone , I was trying to find if anyone have analized the entire code , why? well I bought the ardupilot mega plus the ArduPilot Mega IMU Shield. I'm developing a proyect so obviously i don´t want to download all codes and upload them to my card and thats it I'm done... so I started with the demo the printing values of the sensors on the imu board ,  now i will include in that code some instructions for mantaining a range of values , so if i move the card the servo will move it against , basically I want a PID controller for the 3 axis of the airplane , did anyone can help me with this , I started from yhe cinematic equations for each of the airplane axis. But have a weak idea of how to implement this into code.
thanks anything helps

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