APM1 for gimbal control on blimp/kite. Need yaw compensation instead of roll!

I am looking at the code a bit. This seems easy enough, but I'm a very amatuer coder. I want to take the AMP1, build a little gimbal and hoist it on a balloon or kite, then have it hold camera position (at this point). Eventually I want to have it po

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Runaway Copter. Throttle not turning off

I switched into loiter mode to do some loiter tuning. The copter started running away a bit, I switched back to simple/stabilize because I was near trees. The orientation seemed all messed up and cutting throttle all the way didn't even actually cut

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