Algorithm for pulse correction to use in RC piezo gyro

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RC piezo gyro

hi
I want to build a 2-axis piezo gyro for RC plane, this could be a memsic 2125 Dual-axis Accelerometer from parallax + any µcontroller like PIC 16F84
Input = servo pulse IN + Accelometer pulse
Output = servo pulse OUT
Any has ideas (algorythm for pulse correction) or knows such project ?
Thx
 

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