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Thanks very much for the info and suggestions. Is it not possible to add a barometer and compass to my existing flight controller? That thread I linked to is the best resource I can find on it and I'm still going through its almost-400 pages but apparently there was an add-on board for it (which...

A link to the flight controller? It's this one - http://www.rcgroups.com/forums/showthread.php?t=1548820 It does not appear to have a barometer or compass.

(First post, so hi everyone!) I got my first quadcopter last year - a budget build based on a F450 frame with a Free Flight Controller. I've since added some landing skids and a 2 axis gimbal for a GoPro. I'm now looking to add a GPS module to the drone for tracking and pre-programmed flights...