Ardu3D Code is also flyable in FPV conditions (and even bad weather), but have a problem with glitches. I will make a quick fix soon and a correct solution after that. But that will take a bit more time than an hour.
For more information about this project, take a look at this forum thread: http://forum.mikrokopter.de/topic-22058.html
Software can be found here:
.. and here: