Thanks for the compliment!
Hopefully my board will fix the yaw problems people have. Of course only so much can be done in the presence of a strong magnetic field. Those deflect north. On my tests I have very little yaw drift. Hopefully my boards will fix the problem entirely. I'm anxiously awaiting them.
Have you checked out openCopter in my github?
As it stands right now I will have three boards. All of the boards will have the gyro and acc on the SPI bus. The first will be a basic break out for the sensors. The next two will be most of what is required for openCopter. The GPS and telemetry radios will have to connect to the uarts. No built in bluetooth. The mega shield will have the sensors as well as all of the required pins for esc / servo control. It will also have SBUS, dsmx and dsm2 ports, as well as standard RC. The final one will be an all in one flight controller. The sensors will be the L3GD20 gyro, ADXL345 accelerometer, HMC5883L compass, and BMP085 barometer. Hope that answers your questions about the board. I am typing this from cell phone so I am sorry if this is not clear. I have had excellent results so far with you. Let's hope that the new boards provide even better results. Keep an eye on this thread. I will post as soon as I have the boards assembled.
Thanks again for the interest.