I work with autonomous aerial vehicles, including motors control (using ESCs) based on sensor fusion of gyroscope, accelerometer, and GPS.
Its not clear on your project description what is desired use of this elements and what hardware will be used, so this bid is based on arduino (Atmega328) and accomodates:
- a software module to control the ESC through PWM pin based on input from 0 to 100;
- a software module to control the servos through PWM pin based on input from -180 to 180;
- a software module for reading data from the MPU-6000 gyroscope;
- a software module for reading data from the MediaTek MT3329 GPS V2.0;
- a software module to sensor fusion of giroscope and GPS to infer orientation;
Adjustments can be done to this proposal, and elements been added, based on more information.