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About 20 years ago  a man by the name of Maynard Hill for worked for NASA at
Ames research center,  I believe, came up with a very simple auto pilot for
RC planes.  I have the details on this. If any one wants further info on
this please feel free to contact me. I built and tested on of these and it
worked fantastic.   The down side of this is he used  a small RADIO ACTIVE
PARTICLE on the sensor.  You used to be able to buy these in any record
shop. They were attached to little brushes for removing the dust from
records.
With out these I doubt the system would work.

Bob Nelson

rinelson@tcccom.net