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I added my head tracking gyro to the mix to allow me to tilt the camera down with my head movements. I do not use a pan control on the camera, I simply point the helicopter where I need to look. Adding the tilt with a head tracker helps dramatically in figuring out where I am and how high I am. In addition I can now track objects as I hover or fly past... its working really well!!!
Please see my free online hobby magazine at BaronsHobbies.com for more info...