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Please post info on magnetometer installation... Has this been done already? Is the code in the git repo?

What is the max polling rate we can use?

Looking at the code and it seems to be version 1.7 which is old.. Can you give documentation on how to integrate the changes that were made to make the arduimu code work for pprz?

Is this comment obsolete?

 You may have to comment out the following two lines in the file
  ../paparazzi/sw/airborne/modules/ins/ins_arduimu.c for the code to compile:
 // float throttle_slew;
 // throttle_slew = V_CTL_THROTTLE_SLEW;

Perhaps it should say:

 With older versions of the code, you may have to...