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Hi, everyone.
I've just finished writing and testing the stabilizer PIDs for my Arduino based quadcopter.

I currently use the Gy 80 IMU (accelerometer,gyroscope, magnetometer, barometer/thermometer).
What I'd like to do now is to introduce the U Blox Neo-6m GPS for navigation.
TinyGpsPlus seems to be a good library on which rely.
I can't find anywhere on the net how I can integrate GPS for my purpose. 
I really appreciate your suggestions, links , everything that can help me

Thank you