Hi, Mel

I think the main Problem in those Autopilots is the "Heading lock" feature ... One must ALSO measure very small Gyro variations for the Vehicle ( let's say UAV ... 10$ !!! ) to keep the perfect straight line.

so, a maximum resolution must be kept for heading precision while the full signal range has to be measured for High "G" movements controlling ... and avoiding " non linear " ( ROFL ) - or unwanted - moves.

Thermistor is just here for best temp compensation of Gyro and Accelmeter ...

May be 8 Bits PICs, and generally Pīcs are not the best components for this kind of Games ...

Alain