Check out Analog Devices ADXRS300 - this is a MEMS rate gyro with a fully conditioned duty cycle output. Much more robust than peizo gyros, and lots cheaper.
Also check out ADXL202/210 dual axis accelerometers. These have digital outputs and are really low cost.

I am doing someting similar to you. The accelelerometers and gyro are on a small pcb with a micro and a buck/boost smps. The circuit fits inside a servo case and a led pokes out the hole in the top for a status display. An r/c receiver interface and data logging are also built in. The purpose of the circuit is to develop mcad models that make use of angular rate AND linear acceleration inputs for flight stability.