If you have a UAV DevBoard, and are anxious to do some flying with it, you should skip the GentleNav firmware and wait for MatrixNav, it is almost done, and will perform a couple of orders of magnitude better than GentleNav. GentleNav was originally developed for my previous board, which used the ET312 GPS, 2 gyros, and 2 accelerometers. The algorithm was rather simple, but worked well enough an…