SHIFT THIS TO RELEVENT SECTION LATER https://groups.google.com/group/uavdevboard/browse_frm/thread/1440fa4f2f31e46c manual and stabilized mode
https://groups.google.com/group/uavdevboard/browse_frm/thread/4f3213904cb97c9c option files for planes
Next there is the gyro drift code. We make the assumption that any drift in the gyro calibration (which could be due to temperature changes) is slow. In the MPU6000 driver for the APM2 we set the maximum drift rate to 0.5 degrees/seconds/minute. So if the temperature change is slow enough that this limit is not exceeded then the gyro drift compensation code will cope with it, and the attitude will remain accurate.