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: forum.mikrokopter.de/topic-22058.html

Software can be found here:
github.com/ygramul/Ardu-UAV-Libs
.. and here:
github.com/ygramul/Ardu3D

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