[Paparazzi-devel] Paparazzi 3 - IMU Hardware, suggestions?

[john]

I noticed from the CVS codebase that paparazzi 3 has the capability of using 
some IMU hardware, but I couldn't find specifics on how this hardware is 
configured or if there are specific manufacturers.  Any sneak-previews of 
the paparazzi III hardware?  I'm working on some arm/atmel based avionics, 
and would like to make it as cross-paparazzi like as possible, and possibly 
incorporate better sensors.  (I'm worried the hilly terrain might cause 
problems for the thermopile sensors). 

Has anybody used the analog devices accellerometers to build an IMU?  
Obviously, I would still need gyro's, which seem pricy.  Any budget IMU 
solutions?  Any benefit to having 2 axis accelleromters without gyros in 
trying to build a control algorothim?  I'd guess not, since they really only 
tell part of the picture.