CC3D & Altitude Hold controller module (ATmega128)

I've used CC3D as a flight controller.
But as you know,
CC3D (not revolution) doesn't have altitude hold function.
So I made altitude hold controller module.
ATmega128 was used in this project.
Throttle input is from RX to this module and to CC3D
in the form of PWM.
I used only barometer (MS5611-01BA03), no accel, no sonar.
I built my own algorithm and programmed the firmware for myself.

Schematic here :
https://docs.google.com/uc?id=0B0wB6grwgpb-dTRfYU5Ea2dfY0k&export=download

This module can be connected to any flight controller which receive PWM as RX signal, especially a flight controller which doesn't include alt hold function like CC3D.
Maybe I can connect this to my 250 fpv quadcopter as well in the future.

Thank you for watching.

Видео CC3D & Altitude Hold controller module (ATmega128) канала W TF