Hi Ya,

If you take a CSM 560 gyro and access the settings in the interface and basically remove all of the conventional gain term in heading lock Mode... ya model should be nailed in the hover on the chosen axis! Things do however become a little interesting when the forward flight speed creeps up, so you need to set a non gyroing mode which is achirved via zeroing the conventional gain / heading lock range in normal lock mode. Throw limits can be adjusted via 'direct coupling'. This info is not first hand experience but from the designer of the gyros, so if anyone wants more details I will have to chase it up. Maybe I will get round to trying it out myself... but I wanted to learn the hard way fisrt

Just maybe this might help someone?

RussD