Here is one quick mod which will convert you IR based transmission PicooZ to 2.4Ghz plus the stability of a gyro-ed tail.

The idea is to replace the stock rx/motor controller with a walkera 4#3a/b 4-in-1 module;




Here is the final config after replacing the picooz control board with the 4#3's 4-in-1.



The only electronic part that was retained from the stock board is the charge port and switch;



A little pose together with the 2.4Ghz Transmitter;




here is a short test flight video;

http://www.youtube.com/watch?v=IJRCnakgLhw

http://www.youtube.com/watch?v=wXMZXOQIm1Y

And check this out. Some stable hovers and tail management on the heli. There is some amount of forward flight as i increase the throttle and it goes into hover as reduce it so technically its basically throtte and yaw management when i took this video for me to be able to fly smoothly on a very small space. There is some amount of tail wag in there which indicate that the gyro is working as expected. I just need to 'dampen' that tail.


http://www.youtube.com/watch?v=dI5pL78K4fQ

Just ignore my bad 'heli' catching at the end of the video