Open Island

 https://github.com/iNavFlight/inav/wiki/Lightweight-Telemetry-(LTM) start with $T, followed by function byte, then payload, end with CRC(XOR of payload bytes) Function Byte Usage Frequency G GPS Frame 5Hhz at > 2400 baud A Attitude Frame 10 Hz at > 2400 baud S Status Frame 5Hhz at > 2400 baud O Origin Frame 1 Hz rate N Navigation Frame (iNav extension) ~4 Hz rate X GPS eXended data (iNav extension) 1 Hz rate https://ardupilot.org/rover/docs/common-ltm-telemetry.html Good example on decodeing LTM https://github.com/vierfuffzig/LTM2MAVLink/blob/master/LTM2MAVLink/LTM2MAVLink.ino * LightTelemetry protocol (LTM) * * Ghettostation one way telemetry protocol for really low bitrates (1200/2400 bauds). * * Protocol details: 3 different frames, little endian. * G Frame (GPS position) (2hz @ 1200 bauds , 5hz >= 2400 bauds): 18BYTES * 0x24 0x54 0x47 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xC0 * $ T G --------LAT---

 https://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusion Attitude Heading Reference System (AHRS) https://github.com/kriswiner/MPU6050 most of the lib on 6050 are based on I2Cdev: for arduino you need this one: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 also you need this in your folder https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/I2Cdev For the IIC connection, directly read out sensor data seems to be fine. But when I use interrupt of esp8266on DMP, from time to time, it fails on IIC. lower the speed does not help... I switch back to pro mini, it works fine....even with a IIC OLED