Hi Eddie,
Good work. You may want to look at adding some accelerometers as well. Analog devices make some cheap "chip" ones that does 2 axis on one chip.
Using 3 angular accel sensors (piezo gyros) and 3 accelerometers can give you almost all the control you need using a uP and some software. An old clubmate of mine David Vos did just what you did many years ago. He now runs R&D at his USA co doing RPV's at Athena. Check it out at http://www.hiflight.com/ftc_guidestar.html
Cheers
Andre Baird