Originally Posted by zviratko
gyro is what makes the copter stable - works against external forces that want to rotate it
accelerometer (bma020) is what tells the copter what _position_ in relation to the ground it is
that's why it is needed for autolevel - it is not possible to calculate position of the copter in space with gyro only
Ok now it is more clear , so with bma020 if I leave the commands the quad have to become leveled by himself, right.
And what about sonar, barometer and gps?