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Joe Bredestege replied to shanthosh ravikumar's discussion building your own APM hardware with arduino mega2560 in ArduCopter User Group
"I know this thread is long dead, but I wanted to add the ardupilot added drivers for the mpu-6050 sensor

https://github.com/ArduPilot/ardupilot/commit/8a76ff53bd4497db96f01..."
Mar 22, 2017