Here are the slides from the monthly report for Jan 2021 presented by Tridge, Randy and a few others at the monthly Partners call.
The images above are of the Vectornav external AHRS system and the Carbon Cub plane it was tested in. You can see the PR here but in short, ArduPilot 4.1 supports using external AHRS system like this along side ArduPilot’s built-in EKF.
Thanks as always to our Partners for their support and engagement!