I picked up the "main" board and an Ardupilot last week, They should be here by Tues-Wed Next week! I am going to be using them on a ground ROV not in the air. I still hope the 4DOF gives me enough info to help with localization and mapping eventually! I still have to figure out how to get the ardupilot integrated into a non-rc system yet but I'm going to get cracking as soon this new hardware arrives.
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I'm searchin' for a while but only the flat one has usable manuals ... :-/
I hope some expert come up with nicely documented Arduino code to determine attitude, velocity, acceleration in flight.
Ardupilot Sensor Board - Six Degrees of Freedom (Daughter),
Ardupilot Sensor Board - Six Degrees of Freedom (Main)
The names of these boards are sound a bit misleading. Neither of these boards are 6DOF IMU. But, they are can be used as parts of 6DOF IMU.