i have been struggling with gyro drift and up to now no real solution exists.
it effects the pirates and the newer arducopter2 code base because both build upon the same dcm implementation.
i played around with the pirate code base and could improve the situation a little bit.
and after a few trials i decided to replace the current dcm implementation by the quaternion solution from sebastian madgwick.
what i need is some more tuning and a better pilot :)
there was quite a bit of wind today. and gusty wind between the rain showers.