Since it looks like you understand English, you might want to check this thread www.rcgroups.com/forums/showthread.php?t=716870 I am the first one to build mikrokopter in Canada and I know how hard it is to figure out everything yourself. Most of information I’ve got from there and the guys there are always willing to help. I finally got my GPS working and the result is amazing. Here is a video: Quad heli GPS position hold