Reely Condor with Sparkfun Razor IMU
The plane is a cheap one from Conrad Electronic (50€ incl. RC).
The Paparazzi-System consists of a TWOG, some wi.232-Modules for Telemetry a cheap Navilock-GPS NL-507TTL (30€) and instead of using IR-Sensors for attitude estimation, I have used a Sparkfun Razor IMU (http://www.sparkfun.com/products/9431). That one is deprecated and I had to remove some frequency-filters, that might not be nescessary for the new one.
So the system was really cheap, what was improtant for me as a student :-)
On the TWOG side I have bridged the Resistors for scaling to Something else than 3.3V for the ADC.
The current working version of the Software is checked into GitHub: https://github.com/chni/paparazzi
Since Felix and Christophe started the integration of the analogimu stuff into the main-branch I will switch to this soon, but yet the github-version works for me.
In the mechanical point of view, I had to change some things on the Plane:
- change the Prop-Saver, since the delivered one was rubbish
- mount the IMU on the LiPo wich was suspended in foam to reduce vibrations
Currently my plane looks like this:
A Picture of the entire Groundstation:
And what is on the Screen, while in flight :-)
There is also a YouTube-Video showing the plane to fly circles (GCS view only, perhaps boring): 
For the ones that might be interrested in the Data-File of the Flight (for having fixed wing IMU-Data for developing own attitude estimation SW), the Logfile can be found here: