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Go for a three-axis system. The two axis systems run into trouble with fast piros (because by the time the servos have moved, they aren't anymore in the same spot where the command came - three-axis systems can anticipate the rotation).
They can also work other kinds of magic like predicting the drag from collective and cyclic movements, and mixing it to the tail.
They can also work other kinds of magic like predicting the drag from collective and cyclic movements, and mixing it to the tail.
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