Sub-version for an Arduino Pro Mini with an InvenSense ITG3200 3 axis I2C gyro. 
A 4017 decimal counter is used for servo control.

I/O pin assignments:

PB0/ICP1	PPM receiver signal in
PB1,2		Digital outputs (output.c)
PB3			SPI use and CLK of 4017
PB4			SPI use and red LED (LED1)
PB5			Green Arduino LED (use as LED2).
PB6,7		Xtal

PC0,1,2,3	unused
PC5/SCL		I2C to gyro
PC4/SDA		I2C to gyro
PC6			RESET
PC7			No pin??

PD0			RxD serial for configuration, diags etc.
PD1			TxD serial for configuration, diags etc.
PD2			Performance analysis
PD3     RESET of 4017
PD4     unused
PD5			Beeper
PD6			unused
PD7			unused

ADC6		Battery voltage divider
ADC7		Airspeed sensor