Lots of details on flight stabilization here.
"BEV-FY-20A measures the present flying attitude through the inertial platform which consists of three axis gyroscope and tri-axial accelerometer. when is under the balance controlling , BEV-FY-20A will control the pitch attitude through elevating rudder , the roll attitude through ailerons and stably the course through the rudder .when the flight attitude out of the level ,the balance apparatus will give relevant of auto control gains to help the plane back to horizontal flight . when is in the 3D mode , the balance apparatus induce the rolling speed of three axis through gyroscope ,to show the auto control gain through relevant control rudder and prevent the rolling of each axis .So the plane will maintain the current attitude."
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