Repurposing Ardupilot Board

It seems as though there have been a few people asking about how they can access the raw sensor information being generated by the IMU's on the Ardupilot boards. Is there a good reason as to why that hasn't been addressed or am I just missing something? I would really like to have access to the sensors and digital I/O lines to repurpose the board for something else.

Is there a straightforward way of doing this?

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  • And by repurpose, I mean that I would like to write my own code in the Arduino IDE yet still have access to the IMU.

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