I recently posted a video from my new project: build from zero a new UAV development PCB.
Look at the video and say me what do you think about: things to add or things to remove to or from the PCB.
The video shows the result of the AHRS algorythm with accelerometer, gyroscopes and magnetometer values. No kalman, no quaternion, only integration gyro updated by accel angles when in steady position. If you're interested i can post the source.
Thank you for your comments!