Rock, Roll and Yaw... and Barometric pressure! A change to the Quadcopter design! Previously I had MPU6050 on a GY-521 board (acc+gyro) and the magnetometer HMC5883L on a GY-271. I decided I wanted to have a barometer on the flight board for height control. A bit of research revealed the MS5611 was a pretty sensitive standard barometer. There wasn't room to add a separate barometer module to the flight control board and in fact it was cheaper to replace the GY-521 and GY-271 board with a single board, GY-86, that contained the accelerometer, gyroscope, magnetometer and barometer! On this single board we have the MPU6050 accelerometer and gyroscope, magnetometer HMC5883L and barometer MS5611. Calculating quadcopter orientation So I'm using the GY-86 10 DOF board to calculate the orientation of the quadcopter. We have the MPU6050 processing chip on board, and although we can read off the various sensors readings, a technology/software known as Digital Motion Process