JB Robotics Devbattles 1pcs MB-102 Breadboard 830 Point Solderless Prototype PCB Board Kit for Arduino Onboard algorithm computes Roll, Pitch, and Yaw from 9 dof ST Micro sensors Fast ouptut to Arduino SPI takes 0.0008 sec or ASCII at 115200 baud, 50 Hz See site jebobrow com for Arduino interface programs. 3.3v supply at 0.075 amps. 5v tolerant I/O pins Quaternion-based, singularity free, Sequential Quadratic Programming EKF algorithm DSPic uses Internal 250 Hz update rate DMA data transfer. Uses SP Micro gyros, accelerometers, and magnetometers