Then I recorded a sample, rolling right & left then pitching down and up and yawing right then left. The X-axis is time in seconds.
As you can see, there is quite a bit of drift on the gyros, so I'm going to implement a Kalman filter to hopefully eliminate this.
dp, this is just some basic testing to look at my sensor measurements and gauge the average noise and whatnot. I was just planning on plugging these values straight into my Kalman filter, and I'm not sure what you mean by quaternions.
Mike, this is just the readings from the sensors in the arrangement you see in the first photo, I'm just tilting it by hand. I'm almost positive that my helicopter won't be able to lift this setup (haven't been game to test yet), but I do have an Arduino Mini (also known as the Arduino Stamp - http://www.sparkfun.com/commerce/product_info.php?products_id=8164) that I'm hoping isn't too heavy if I hook it all up on a small bit of vero-board. If I do add GPS later on, that might tip the scales too heavy though :(
Great start! But out of curiosity, why are you coding your own filter? We've already done all that for you with the ArduIMU code.