I, too, have the fear of heights, or rather, the fear of falling. Like others here, I won't get near the edge of any precipice.
Airplanes don't bother me, though, for some reason. A few years ago, I took an acrobatic ride in an open cockpit biplane - complete with loops, rolls, etc., and the only thing holding me in the biplane when it was inverted were the shoulder straps. As they were strapping a parachute on me, they gave me thorough instructions... "If the pilot yells 'GET OUT,' jump and pull this..." :o
Here's a video of the acrobatic ride. I didn't shoot the video, but it's the same plane and the same pilot.