Hi folks, I am a German student working on a UAV project. I bought a rotomotion IMU system a couple of months ago. This hardware is badly documented neigher on the Internet nor on the delivered documentation cdrom, but I managed to figure out how to read the gyro and PPM data with a VB.Net engine, where the PPM data was comming from my rc- receiver. Has anybody ever worked with this IMU? What I want to do is to design a computer guided modell airplane which controlls its flightpath by itself using GPS for position evaluation and the VB.NET engine (166Mhz embedded low power PC). How do I get to get this computer to control the servos instead of the PPM data when I let the aircraft control itself? Does anybody know what $ERPNI does ? Thank You?