commit 98dae59937e7d145d249b2c63abc7e7a8ac85ad5
Author: Julian Binder <jabinder@andrew.cmu.edu>
Date:   Fri Nov 30 20:49:21 2012 -0500

    removed old imu circuitry. added new i2c circuitry for gyro, accelerometer and magnometer. still need to route on the board

diff --git a/scoutfly/scoutfly_rev3.brd b/scoutfly/scoutfly_rev3.brd
index 58c9120..2c2a1c6 100755
--- a/scoutfly/scoutfly_rev3.brd
+++ b/scoutfly/scoutfly_rev3.brd
@@ -131,10 +131,7 @@
 <text x="56.769" y="18.542" size="1.016" layer="21" ratio="15" rot="R90">AVR RST</text>
 <text x="40.005" y="18.415" size="1.016" layer="21" ratio="15" rot="R90">GUMSTIX</text>
 <text x="41.402" y="20.447" size="1.016" layer="21" ratio="15" rot="R90">RST</text>
-<text x="51.181" y="49.403" size="1.016" layer="21" ratio="15">ACCELEROMETER BREAKOUT</text>
 <text x="51.8794" y="45.5759" size="0.4064" layer="21" ratio="15" rot="R330">GND</text>
-<text x="69.596" y="45.593" size="0.4064" layer="21" ratio="15" rot="R330">I2C SCL 3.3V</text>
-<text x="67.691" y="45.72" size="0.4064" layer="21" ratio="15" rot="R330">I2C SDA 3.3V</text>
 <text x="4.826" y="74.93" size="1.016" layer="21" ratio="15" rot="R90">BATTERY</text>
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 <text x="8.763" y="73.787" size="1.016" layer="21" ratio="15">+</text>
@@ -195,6 +192,8 @@
 <text x="95.25" y="3.937" size="0.6096" layer="21" rot="R90">GND</text>
 <text x="95.123" y="7.493" size="0.6096" layer="21" rot="R90">TX</text>
 <text x="94.742" y="10.922" size="0.6096" layer="21" rot="R90">RX</text>
+<text x="62.23" y="52.705" size="0.6096" layer="21">IMU GOES HERE</text>
+<text x="56.515" y="14.097" size="0.6096" layer="21">EXTRA ADC HERE</text>
 </plain>
 <libraries>
 <library name="kwoo">
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-<description>LGA16 for LPY5150AL</description>
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@@ -1959,6 +1852,179 @@ W = angled&lt;p&gt;
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+<library name="SparkFun-Sensors">
+<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
+In this library you'll find sensors- accelerometers, gyros, compasses, magnetometers, light sensors, imagers, temp sensors, etc.&lt;br&gt;&lt;br&gt;
+We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
+&lt;br&gt;&lt;br&gt;
+&lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
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+<description>&lt;h3&gt;16-pin LGA Package&lt;/h3&gt;
+4x4x1.1mm&lt;br&gt;
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+4pins-by-4pins&lt;br&gt;
+&lt;br&gt;
+Package used by L3G4200D 3-axis gyro&lt;br&gt;
+&lt;br&gt;
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+<rectangle x1="-0.525" y1="-1.85" x2="-0.125" y2="-1.55" layer="51" rot="R90"/>
+<rectangle x1="0.125" y1="-1.85" x2="0.525" y2="-1.55" layer="51" rot="R90"/>
+<rectangle x1="0.775" y1="-1.85" x2="1.175" y2="-1.55" layer="51" rot="R90"/>
+<rectangle x1="-1.175" y1="-1.85" x2="-0.775" y2="-1.55" layer="51" rot="R90"/>
+<rectangle x1="1.5" y1="-0.475" x2="1.9" y2="-0.175" layer="51" rot="R180"/>
+<rectangle x1="1.5" y1="0.175" x2="1.9" y2="0.475" layer="51" rot="R180"/>
+<rectangle x1="1.5" y1="0.825" x2="1.9" y2="1.125" layer="51" rot="R180"/>
+<rectangle x1="1.5" y1="-1.125" x2="1.9" y2="-0.825" layer="51" rot="R180"/>
+<rectangle x1="0.125" y1="1.55" x2="0.525" y2="1.85" layer="51" rot="R270"/>
+<rectangle x1="-0.525" y1="1.55" x2="-0.125" y2="1.85" layer="51" rot="R270"/>
+<rectangle x1="-1.175" y1="1.55" x2="-0.775" y2="1.85" layer="51" rot="R270"/>
+<rectangle x1="0.775" y1="1.55" x2="1.175" y2="1.85" layer="51" rot="R270"/>
+</package>
+<package name="DFN-10">
+<description>10-pin DFN, 2mm x 2mm x 0.85mm</description>
+<wire x1="-1" y1="1" x2="-1" y2="-1" width="0.127" layer="51"/>
+<wire x1="-1" y1="-1" x2="1" y2="-1" width="0.127" layer="51"/>
+<wire x1="1" y1="-1" x2="1" y2="1" width="0.127" layer="51"/>
+<wire x1="1" y1="1" x2="-1" y2="1" width="0.127" layer="51"/>
+<wire x1="-1" y1="1.1" x2="1" y2="1.1" width="0.127" layer="21"/>
+<wire x1="-1" y1="-1.1" x2="1" y2="-1.1" width="0.127" layer="21"/>
+<wire x1="-1" y1="1.1" x2="-0.75" y2="1.15" width="0.127" layer="21" curve="-270"/>
+<smd name="8" x="0.91" y="0" dx="0.8" dy="0.22" layer="1"/>
+<smd name="3" x="-0.91" y="0" dx="0.8" dy="0.22" layer="1"/>
+<smd name="2" x="-0.91" y="0.4" dx="0.8" dy="0.22" layer="1"/>
+<smd name="4" x="-0.91" y="-0.4" dx="0.8" dy="0.22" layer="1"/>
+<smd name="5" x="-0.91" y="-0.8" dx="0.8" dy="0.22" layer="1"/>
+<smd name="1" x="-0.91" y="0.8" dx="0.8" dy="0.22" layer="1"/>
+<smd name="10" x="0.91" y="0.8" dx="0.8" dy="0.22" layer="1"/>
+<smd name="9" x="0.91" y="0.4" dx="0.8" dy="0.22" layer="1"/>
+<smd name="7" x="0.91" y="-0.4" dx="0.8" dy="0.22" layer="1"/>
+<smd name="6" x="0.91" y="-0.8" dx="0.8" dy="0.22" layer="1"/>
+<text x="-1.27" y="1.27" size="0.4064" layer="25">&gt;NAME</text>
+<text x="-1.27" y="-1.6764" size="0.4064" layer="27">&gt;VALUE</text>
+</package>
+<package name="QFN-16_0.5MM">
+<description>&lt;h3&gt;QFN-16 0.5mm Pitch&lt;/h3&gt;
+3 x 3mm Outline&lt;br&gt;
+16-pin&lt;br&gt;
+Used on the MMA8452Q accelerometer&lt;br&gt;
+&lt;br&gt;
+&lt;b&gt;Unproven&lt;/b&gt;&lt;br&gt;
+&lt;br&gt;
+Layout in accordance with App note AN4077&lt;br&gt;
+http://cache.freescale.com/files/sensors/doc/app_note/AN4077.pdf</description>
+<wire x1="-1.5" y1="-1.5" x2="-1.5" y2="1.5" width="0.127" layer="51"/>
+<wire x1="-1.5" y1="1.5" x2="1.5" y2="1.5" width="0.127" layer="51"/>
+<wire x1="1.5" y1="1.5" x2="1.5" y2="-1.5" width="0.127" layer="51"/>
+<wire x1="1.5" y1="-1.5" x2="-1.5" y2="-1.5" width="0.127" layer="51"/>
+<wire x1="-1.5" y1="1.3432" x2="-1.5" y2="1.5" width="0.1778" layer="21"/>
+<wire x1="-1.5" y1="1.5" x2="-0.8432" y2="1.5" width="0.1778" layer="21"/>
+<wire x1="1.5" y1="-1.3432" x2="1.5" y2="-1.5" width="0.1778" layer="21"/>
+<wire x1="-1.5" y1="-1.3432" x2="-1.5" y2="-1.5" width="0.1778" layer="21"/>
+<wire x1="1.5" y1="1.3432" x2="1.5" y2="1.5" width="0.1778" layer="21"/>
+<wire x1="1.5" y1="1.5" x2="0.8432" y2="1.5" width="0.1778" layer="21"/>
+<wire x1="-1.5" y1="-1.5" x2="-0.8432" y2="-1.5" width="0.1778" layer="21"/>
+<wire x1="1.5" y1="-1.5" x2="0.8432" y2="-1.5" width="0.1778" layer="21"/>
+<wire x1="0.346" y1="-0.473" x2="0.092" y2="-0.473" width="0.0508" layer="51"/>
+<wire x1="0.092" y1="-0.473" x2="0.219" y2="-0.6" width="0.0508" layer="51"/>
+<wire x1="0.092" y1="-0.473" x2="0.219" y2="-0.346" width="0.0508" layer="51"/>
+<wire x1="0.181" y1="0.173" x2="0.181" y2="-0.081" width="0.0508" layer="51"/>
+<wire x1="0.181" y1="-0.081" x2="0.308" y2="0.046" width="0.0508" layer="51"/>
+<wire x1="0.181" y1="-0.081" x2="0.054" y2="0.046" width="0.0508" layer="51"/>
+<circle x="-0.6" y="0.6" radius="0.1" width="0.127" layer="21"/>
+<circle x="0.154" y="0.554" radius="0.127" width="0.0508" layer="51"/>
+<circle x="0.154" y="0.554" radius="0.0254" width="0.0508" layer="51"/>
+<smd name="15" x="0" y="1.275" dx="0.3" dy="0.8" layer="1" rot="R180"/>
+<smd name="14" x="0.5" y="1.275" dx="0.3" dy="0.8" layer="1" rot="R180"/>
+<smd name="13" x="1.275" y="1" dx="0.3" dy="0.8" layer="1" rot="R90"/>
+<smd name="12" x="1.275" y="0.5" dx="0.3" dy="0.8" layer="1" rot="R90"/>
+<smd name="11" x="1.275" y="0" dx="0.3" dy="0.8" layer="1" rot="R90"/>
+<smd name="10" x="1.275" y="-0.5" dx="0.3" dy="0.8" layer="1" rot="R90"/>
+<smd name="9" x="1.275" y="-1" dx="0.3" dy="0.8" layer="1" rot="R90"/>
+<smd name="16" x="-0.5" y="1.275" dx="0.3" dy="0.8" layer="1" rot="R180"/>
+<smd name="7" x="0" y="-1.275" dx="0.3" dy="0.8" layer="1"/>
+<smd name="6" x="-0.5" y="-1.275" dx="0.3" dy="0.8" layer="1"/>
+<smd name="8" x="0.5" y="-1.275" dx="0.3" dy="0.8" layer="1"/>
+<smd name="3" x="-1.275" y="0" dx="0.3" dy="0.8" layer="1" rot="R270"/>
+<smd name="2" x="-1.275" y="0.5" dx="0.3" dy="0.8" layer="1" rot="R270"/>
+<smd name="1" x="-1.275" y="1" dx="0.3" dy="0.8" layer="1" rot="R270"/>
+<smd name="4" x="-1.275" y="-0.5" dx="0.3" dy="0.8" layer="1" rot="R270"/>
+<smd name="5" x="-1.275" y="-1" dx="0.3" dy="0.8" layer="1" rot="R270"/>
+<text x="-1.45" y="1.9" size="0.4064" layer="25">&gt;NAME</text>
+<text x="-1.4516" y="-2.3634" size="0.4064" layer="27">&gt;VALUE</text>
+<text x="-0.3" y="-0.6" size="0.3048" layer="51" ratio="15">X</text>
+<text x="-0.3" y="-0.1" size="0.3048" layer="51" ratio="15">Y</text>
+<text x="-0.3" y="0.4" size="0.3048" layer="51" ratio="15">Z</text>
+<rectangle x1="-0.125" y1="-1.4" x2="0.125" y2="-0.933" layer="51"/>
+<rectangle x1="0.375" y1="-1.4" x2="0.625" y2="-0.933" layer="51"/>
+<rectangle x1="-0.625" y1="-1.4" x2="-0.375" y2="-0.933" layer="51"/>
+<rectangle x1="-0.125" y1="0.933" x2="0.125" y2="1.4" layer="51" rot="R180"/>
+<rectangle x1="0.375" y1="0.933" x2="0.625" y2="1.4" layer="51" rot="R180"/>
+<rectangle x1="-0.625" y1="0.933" x2="-0.375" y2="1.4" layer="51" rot="R180"/>
+<rectangle x1="-1.4" y1="-0.125" x2="-0.933" y2="0.125" layer="51"/>
+<rectangle x1="-1.4" y1="0.375" x2="-0.933" y2="0.625" layer="51"/>
+<rectangle x1="-1.4" y1="0.875" x2="-0.933" y2="1.125" layer="51"/>
+<rectangle x1="-1.4" y1="-0.625" x2="-0.933" y2="-0.375" layer="51"/>
+<rectangle x1="-1.4" y1="-1.125" x2="-0.933" y2="-0.875" layer="51"/>
+<rectangle x1="0.933" y1="-0.125" x2="1.4" y2="0.125" layer="51" rot="R180"/>
+<rectangle x1="0.933" y1="0.375" x2="1.4" y2="0.625" layer="51" rot="R180"/>
+<rectangle x1="0.933" y1="0.875" x2="1.4" y2="1.125" layer="51" rot="R180"/>
+<rectangle x1="0.933" y1="-0.625" x2="1.4" y2="-0.375" layer="51" rot="R180"/>
+<rectangle x1="0.933" y1="-1.125" x2="1.4" y2="-0.875" layer="51" rot="R180"/>
+</package>
+</packages>
+</library>
 </libraries>
 <attributes>
 </attributes>
@@ -2154,10 +2220,6 @@ Please make sure your boards conform to these design rules.</description>
 <element name="F1" library="kwoo" package="SM200" value="" x="17.018" y="85.344"/>
 <element name="U$2" library="kwoo" package="24-SSOP" value="TB6612FNG" x="84.455" y="67.31" rot="R180"/>
 <element name="U$27" library="kwoo" package="24-SSOP" value="TB6612FNG" x="77.47" y="67.31" rot="MR180"/>
-<element name="R60" library="resistor" package="R0603" value="10K" x="62.23" y="21.209" smashed="yes" rot="R180">
-<attribute name="NAME" x="61.595" y="21.971" size="1.27" layer="25"/>
-<attribute name="VALUE" x="63.119" y="23.241" size="1.27" layer="27" rot="R180"/>
-</element>
 <element name="U$29" library="SparkFun" package="2X3" value="AVR_SPI_PRG_6PTH" x="94.742" y="23.622" rot="R180"/>
 <element name="A1" library="kwoo" package="CHIP_ANT_2.4GHZ" value="ANT-2.4-CHP" x="71.12" y="4.191" rot="MR270"/>
 <element name="R69" library="resistor" package="R0603" value="9.76K" x="104.775" y="81.915" rot="MR0"/>
@@ -2207,14 +2269,6 @@ Please make sure your boards conform to these design rules.</description>
 <element name="C133" library="SparkFun" package="0603-CAP" value="0.1uF" x="45.593" y="56.896" rot="R180"/>
 <element name="C19" library="SparkFun" package="0603-CAP" value="0.1uF" x="80.899" y="60.198" rot="MR90"/>
 <element name="C64" library="SparkFun" package="0603-CAP" value="0.1uF" x="75.819" y="17.145" rot="R270"/>
-<element name="C62" library="SparkFun" package="0603-CAP" value="0.1uF" x="58.801" y="9.652" smashed="yes">
-<attribute name="NAME" x="54.483" y="9.398" size="0.8128" layer="25" font="vector"/>
-<attribute name="VALUE" x="57.785" y="8.509" size="0.4064" layer="27" font="vector"/>
-</element>
-<element name="C20" library="SparkFun" package="0805" value="10uF" x="58.801" y="11.557" smashed="yes">
-<attribute name="NAME" x="54.864" y="10.9855" size="0.8128" layer="25"/>
-<attribute name="VALUE" x="57.785" y="10.16" size="0.4064" layer="27"/>
-</element>
 <element name="C136" library="SparkFun" package="0603-CAP" value="1uF" x="86.6541" y="12.954" rot="R270"/>
 <element name="C137" library="SparkFun" package="0603-CAP" value="1uF" x="89.3211" y="12.954" rot="R270"/>
 <element name="C138" library="SparkFun" package="0603-CAP" value="1uF" x="105.918" y="29.21" rot="MR180"/>
@@ -2222,17 +2276,9 @@ Please make sure your boards conform to these design rules.</description>
 <element name="C54" library="SparkFun" package="0603-CAP" value="15pF" x="81.661" y="12.954" rot="MR90"/>
 <element name="C55" library="SparkFun" package="0603-CAP" value="15pF" x="75.819" y="12.954" rot="MR270"/>
 <element name="C83" library="SparkFun" package="0603-CAP" value="680pF" x="108.077" y="79.121" rot="MR0"/>
-<element name="C57" library="SparkFun" package="0603-CAP" value="0.01uF" x="62.2046" y="19.431" smashed="yes" rot="R180">
-<attribute name="NAME" x="62.7126" y="20.447" size="0.6096" layer="25" font="vector" rot="R180"/>
-<attribute name="VALUE" x="63.2206" y="20.574" size="0.4064" layer="27" font="vector" rot="R180"/>
-</element>
 <element name="C79" library="SparkFun" package="0603-CAP" value="0.1uF" x="107.315" y="67.183" rot="MR270"/>
 <element name="C81" library="SparkFun" package="0603-CAP" value="680pF" x="104.775" y="79.121" rot="MR0"/>
 <element name="C82" library="rcl" package="C0805" value="4.7uF" x="105.029" y="76.2" rot="MR180"/>
-<element name="C58" library="SparkFun" package="0603-CAP" value="0.47uF" x="59.9694" y="20.3454" smashed="yes" rot="R90">
-<attribute name="NAME" x="59.0804" y="19.9644" size="0.6096" layer="25" font="vector" rot="R90"/>
-<attribute name="VALUE" x="61.1124" y="19.3294" size="0.4064" layer="27" font="vector" rot="R90"/>
-</element>
 <element name="R121" library="resistor" package="R0603" value="10K" x="87.7316" y="81.6864" rot="MR180"/>
 <element name="J3" library="kwoo" package="OMRON_XF" value="XF2L" x="94.488" y="85.471" smashed="yes" rot="R180">
 <attribute name="NAME" x="104.041" y="85.083" size="1.27" layer="25" font="vector" ratio="15" rot="SR90"/>
@@ -2269,7 +2315,6 @@ Please make sure your boards conform to these design rules.</description>
 <element name="C9" library="SparkFun" package="0603-CAP" value="0.1uF" x="67.183" y="33.909" rot="R180"/>
 <element name="U9" library="kwoo" package="20-TSSOP" value="TXB0108" x="65.532" y="40.132"/>
 <element name="U10" library="kwoo" package="20-TSSOP" value="TXB0108" x="19.177" y="30.226"/>
-<element name="JP2" library="SparkFun" package="1X08" value="" x="51.943" y="47.498"/>
 <element name="S6" library="SparkFun" package="TACTILE_SWITCH_SMD" value="" x="46.482" y="21.59" rot="R90"/>
 <element name="R7" library="resistor" package="R0603" value="10K" x="42.291" y="21.59" rot="R90"/>
 <element name="L1" library="kwoo" package="WURTH_BALUN" value="WURTH_748421245" x="71.6534" y="13.081" rot="MR180"/>
@@ -2386,34 +2431,6 @@ Please make sure your boards conform to these design rules.</description>
 <element name="J16" library="kwoo" package="JST_ZH_5" value="JST_5VERT" x="112.395" y="59.563" rot="R270"/>
 <element name="U$4" library="kwoo" package="6-TSOP" value="BC817DS" x="92.837" y="44.196" rot="R270"/>
 <element name="U$8" library="kwoo" package="6-TSOP" value="BC817DS" x="92.837" y="39.243" rot="R270"/>
-<element name="U$28" library="kwoo" package="LGA16" value="LPY5150AL" x="61.341" y="15.748" smashed="yes" rot="R270">
-<attribute name="NAME" x="61.0108" y="11.9634" size="0.4064" layer="25"/>
-<attribute name="VALUE" x="57.8866" y="18.288" size="0.4064" layer="27" rot="R270"/>
-</element>
-<element name="R63" library="resistor" package="R0603" value="33K" x="67.183" y="18.288" smashed="yes" rot="R270">
-<attribute name="NAME" x="66.802" y="16.129" size="1.27" layer="25"/>
-<attribute name="VALUE" x="65.151" y="19.177" size="1.27" layer="27" rot="R270"/>
-</element>
-<element name="C4" library="SparkFun" package="0603-CAP" value="2.2uF" x="66.294" y="20.574" smashed="yes" rot="R180">
-<attribute name="NAME" x="66.421" y="21.717" size="0.6096" layer="25" font="vector" rot="R180"/>
-<attribute name="VALUE" x="67.31" y="21.717" size="0.4064" layer="27" font="vector" rot="R180"/>
-</element>
-<element name="R64" library="resistor" package="R0603" value="33K" x="70.993" y="19.812" smashed="yes" rot="R90">
-<attribute name="NAME" x="71.501" y="22.987" size="1.27" layer="25" rot="R180"/>
-<attribute name="VALUE" x="73.025" y="18.923" size="1.27" layer="27" rot="R90"/>
-</element>
-<element name="C7" library="SparkFun" package="0603-CAP" value="2.2uF" x="70.358" y="17.653" smashed="yes" rot="R180">
-<attribute name="NAME" x="70.739" y="16.637" size="0.4064" layer="25" font="vector" rot="R180"/>
-<attribute name="VALUE" x="71.374" y="18.796" size="0.4064" layer="27" font="vector" rot="R180"/>
-</element>
-<element name="R65" library="resistor" package="R0603" value="1M" x="69.469" y="19.812" smashed="yes" rot="R90">
-<attribute name="NAME" x="69.469" y="23.114" size="1.27" layer="25" rot="R180"/>
-<attribute name="VALUE" x="71.501" y="18.923" size="1.27" layer="27" rot="R90"/>
-</element>
-<element name="R66" library="resistor" package="R0603" value="1M" x="65.405" y="18.288" smashed="yes" rot="R270">
-<attribute name="NAME" x="64.897" y="16.129" size="1.27" layer="25"/>
-<attribute name="VALUE" x="63.373" y="19.177" size="1.27" layer="27" rot="R270"/>
-</element>
 <element name="U$3" library="kwoo" package="DD2PAK" value="AP1501" x="46.609" y="75.311" rot="R180"/>
 <element name="L3" library="kwoo" package="0.492L0.492W0.236HINDUCTOR" value="47uH" x="39.878" y="72.263" rot="MR0"/>
 <element name="C2" library="SparkFun" package="0805" value="47uF" x="52.324" y="84.709" rot="R270"/>
@@ -2435,6 +2452,21 @@ Please make sure your boards conform to these design rules.</description>
 <attribute name="OC_FARNELL" value="unknown" x="96.774" y="8.255" size="1.778" layer="27" rot="R90" display="off"/>
 <attribute name="VALUE" x="99.695" y="4.445" size="1.27" layer="27" ratio="10" rot="R90"/>
 </element>
+<element name="U14" library="SparkFun-Sensors" package="LGA16-4X4" value="L3G4200D" x="-22.987" y="1.778"/>
+<element name="C1" library="SparkFun" package="0603-CAP" value="470nF" x="-23.876" y="-3.175"/>
+<element name="C21" library="SparkFun" package="0603-CAP" value="10nF" x="-23.876" y="-6.223"/>
+<element name="R2" library="resistor" package="R0603" value="10k" x="-23.876" y="-10.541"/>
+<element name="U15" library="SparkFun-Sensors" package="DFN-10" value="MAG3110" x="-26.924" y="-10.795"/>
+<element name="C24" library="SparkFun" package="0603-CAP" value="100nF" x="-27.178" y="-24.892"/>
+<element name="C25" library="SparkFun" package="0603-CAP" value="1uF" x="-27.178" y="-27.94"/>
+<element name="C26" library="SparkFun" package="0603-CAP" value="100nF" x="-27.178" y="-30.988"/>
+<element name="C27" library="SparkFun" package="0603-CAP" value="100nF" x="-27.178" y="-34.036"/>
+<element name="C28" library="SparkFun" package="0603-CAP" value="100nF" x="-27.178" y="-37.084"/>
+<element name="U16" library="SparkFun-Sensors" package="QFN-16_0.5MM" value="MMA8452Q" x="-30.48" y="-35.814"/>
+<element name="C45" library="SparkFun" package="0603-CAP" value="4.7uF" x="-30.861" y="-40.132"/>
+<element name="C46" library="SparkFun" package="0603-CAP" value="0.1uF" x="-30.861" y="-43.18"/>
+<element name="C49" library="SparkFun" package="0603-CAP" value="0.1uF" x="-30.861" y="-46.228"/>
+<element name="C50" library="SparkFun" package="0603-CAP" value="100nF" x="-30.861" y="-49.276"/>
 </elements>
 <signals>
 <signal name="GND">
@@ -2500,7 +2532,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="C9" pad="2"/>
 <contactref element="C8" pad="2"/>
 <contactref element="U8" pad="11"/>
-<contactref element="JP2" pad="1"/>
 <contactref element="S6" pad="3"/>
 <contactref element="S6" pad="4"/>
 <contactref element="L1" pad="2"/>
@@ -2577,16 +2608,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="U$4" pad="4"/>
 <contactref element="U$8" pad="1"/>
 <contactref element="U$8" pad="4"/>
-<contactref element="C62" pad="2"/>
-<contactref element="C20" pad="2"/>
-<contactref element="U$28" pad="1"/>
-<contactref element="U$28" pad="9"/>
-<contactref element="U$28" pad="5"/>
-<contactref element="U$28" pad="7"/>
-<contactref element="C4" pad="2"/>
-<contactref element="C7" pad="2"/>
-<contactref element="R65" pad="1"/>
-<contactref element="R66" pad="1"/>
 <contactref element="U$3" pad="3"/>
 <contactref element="U$3" pad="6"/>
 <contactref element="C2" pad="2"/>
@@ -2909,47 +2930,13 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="91.6745" y1="40.244" x2="93.9995" y2="42.569" width="0.254" layer="1"/>
 <wire x1="91.6745" y1="40.244" x2="91.9975" y2="40.244" width="0.254" layer="1"/>
 <wire x1="91.9975" y1="40.244" x2="93.9995" y2="38.242" width="0.254" layer="1"/>
-<wire x1="60.198" y1="16.002" x2="60.198" y2="16.891" width="0.2032" layer="1"/>
-<wire x1="59.944" y1="15.748" x2="60.198" y2="16.002" width="0.2032" layer="1"/>
-<wire x1="59.944" y1="15.748" x2="59.1058" y2="15.748" width="0.2032" layer="1"/>
-<wire x1="59.7662" y1="13.5128" x2="59.817" y2="13.5636" width="0.2032" layer="1"/>
-<wire x1="59.817" y1="13.5636" x2="59.817" y2="14.097" width="0.2032" layer="1"/>
-<wire x1="59.817" y1="14.097" x2="60.198" y2="14.478" width="0.2032" layer="1"/>
-<wire x1="60.198" y1="14.478" x2="60.198" y2="15.24" width="0.2032" layer="1"/>
-<wire x1="60.198" y1="15.24" x2="59.944" y2="15.494" width="0.2032" layer="1"/>
-<wire x1="59.944" y1="15.494" x2="59.944" y2="15.748" width="0.2032" layer="1"/>
 <wire x1="64.731" y1="25.4" x2="64.731" y2="27.012" width="0.2032" layer="1"/>
 <wire x1="64.731" y1="27.012" x2="65.405" y2="27.686" width="0.2032" layer="1"/>
 <wire x1="65.405" y1="27.686" x2="65.532" y2="27.813" width="0.2032" layer="15"/>
 <wire x1="60.917" y1="23.495" x2="63.246" y2="23.495" width="0.2032" layer="1"/>
-<wire x1="69.469" y1="17.692" x2="69.469" y2="18.962" width="0.2032" layer="1"/>
-<wire x1="69.508" y1="17.653" x2="69.469" y2="17.692" width="0.2032" layer="1"/>
-<wire x1="69.508" y1="17.653" x2="69.508" y2="17.36" width="0.2032" layer="1"/>
-<wire x1="69.508" y1="17.36" x2="70.358" y2="16.51" width="0.2032" layer="1"/>
-<wire x1="65.444" y1="19.177" x2="65.444" y2="20.574" width="0.2032" layer="1"/>
-<wire x1="65.405" y1="19.138" x2="65.444" y2="19.177" width="0.2032" layer="1"/>
-<wire x1="62.9158" y1="17.9832" x2="62.865" y2="17.9324" width="0.2032" layer="1"/>
-<wire x1="65.405" y1="19.138" x2="65.1392" y2="18.8722" width="0.2032" layer="1"/>
-<wire x1="65.444" y1="20.574" x2="64.389" y2="20.574" width="0.2032" layer="1"/>
-<wire x1="64.389" y1="20.574" x2="64.135" y2="20.32" width="0.2032" layer="1"/>
-<wire x1="59.7662" y1="17.9832" x2="58.4708" y2="17.9832" width="0.2032" layer="1"/>
-<wire x1="58.4708" y1="17.9832" x2="57.912" y2="18.542" width="0.2032" layer="1"/>
-<wire x1="57.912" y1="18.542" x2="57.785" y2="18.669" width="0.2032" layer="15"/>
-<wire x1="60.198" y1="16.891" x2="59.7662" y2="17.3228" width="0.2032" layer="1"/>
-<wire x1="59.7662" y1="17.3228" x2="59.7662" y2="17.9832" width="0.2032" layer="1"/>
-<wire x1="59.701" y1="13.4476" x2="59.7662" y2="13.5128" width="0.2032" layer="1"/>
-<wire x1="59.701" y1="11.557" x2="59.701" y2="13.4476" width="0.2032" layer="1"/>
-<wire x1="59.651" y1="11.507" x2="59.701" y2="11.557" width="0.2032" layer="1"/>
-<wire x1="59.651" y1="9.652" x2="59.651" y2="11.507" width="0.2032" layer="1"/>
 <wire x1="82.589" y1="20.662" x2="82.589" y2="19.685" width="0.2032" layer="1"/>
 <wire x1="82.423" y1="20.828" x2="82.589" y2="20.662" width="0.2032" layer="1"/>
 <wire x1="81.915" y1="20.828" x2="82.423" y2="20.828" width="0.2032" layer="1"/>
-<wire x1="62.9158" y1="17.9832" x2="62.9666" y2="18.034" width="0.2032" layer="1"/>
-<wire x1="62.9666" y1="18.034" x2="63.754" y2="18.034" width="0.2032" layer="1"/>
-<wire x1="63.754" y1="18.034" x2="64.135" y2="18.415" width="0.2032" layer="1"/>
-<wire x1="64.135" y1="18.415" x2="64.135" y2="19.05" width="0.2032" layer="1"/>
-<wire x1="64.135" y1="19.05" x2="64.223" y2="19.138" width="0.2032" layer="1"/>
-<wire x1="64.223" y1="19.138" x2="65.405" y2="19.138" width="0.2032" layer="1"/>
 <wire x1="86.6541" y1="12.065" x2="88.138" y2="12.065" width="0.254" layer="1"/>
 <wire x1="86.6541" y1="12.104" x2="86.6541" y2="12.065" width="0.254" layer="1"/>
 <wire x1="64.731" y1="35.814" x2="64.77" y2="35.814" width="0.2032" layer="1"/>
@@ -3130,11 +3117,11 @@ Please make sure your boards conform to these design rules.</description>
 <via x="55.372" y="52.832" extent="1-16" drill="0.381"/>
 <via x="56.642" y="52.832" extent="1-16" drill="0.381"/>
 <via x="57.912" y="52.832" extent="1-16" drill="0.381"/>
-<via x="59.182" y="52.832" extent="1-16" drill="0.381"/>
-<via x="60.579" y="52.832" extent="1-16" drill="0.381"/>
-<via x="61.849" y="52.832" extent="1-16" drill="0.381"/>
-<via x="63.119" y="52.832" extent="1-16" drill="0.381"/>
-<via x="64.389" y="52.832" extent="1-16" drill="0.381"/>
+<via x="57.912" y="51.562" extent="1-16" drill="0.381"/>
+<via x="56.642" y="51.562" extent="1-16" drill="0.381"/>
+<via x="55.372" y="51.562" extent="1-16" drill="0.381"/>
+<via x="54.102" y="51.562" extent="1-16" drill="0.381"/>
+<via x="52.832" y="51.562" extent="1-16" drill="0.381"/>
 <via x="13.462" y="9.271" extent="1-16" drill="0.381"/>
 <via x="3.81" y="3.81" extent="1-16" drill="2.9464" diameter="4.5466"/>
 <via x="110.49" y="3.81" extent="1-16" drill="2.9464" diameter="4.5466"/>
@@ -3147,9 +3134,6 @@ Please make sure your boards conform to these design rules.</description>
 <via x="94.996" y="37.719" extent="1-16" drill="0.4064"/>
 <via x="65.405" y="27.686" extent="1-16" drill="0.381"/>
 <via x="63.246" y="23.495" extent="1-16" drill="0.381"/>
-<via x="70.358" y="16.51" extent="1-16" drill="0.381"/>
-<via x="64.135" y="20.32" extent="1-16" drill="0.381"/>
-<via x="57.912" y="18.542" extent="1-16" drill="0.381"/>
 <via x="46.609" y="88.011" extent="1-16" drill="0.6"/>
 <via x="52.324" y="82.423" extent="1-16" drill="0.6"/>
 <via x="39.497" y="87.503" extent="1-16" drill="0.6"/>
@@ -3363,6 +3347,54 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="SV2" pad="1"/>
 <wire x1="93.853" y1="6.35" x2="96.139" y2="6.35" width="0.2032" layer="1"/>
 <wire x1="96.139" y1="6.35" x2="96.774" y2="5.715" width="0.2032" layer="1"/>
+<contactref element="C21" pad="1"/>
+<contactref element="R2" pad="1"/>
+<contactref element="U14" pad="4"/>
+<contactref element="U15" pad="5"/>
+<contactref element="U15" pad="10"/>
+<contactref element="C25" pad="2"/>
+<contactref element="C26" pad="2"/>
+<contactref element="C24" pad="1"/>
+<contactref element="C28" pad="2"/>
+<contactref element="C27" pad="2"/>
+<contactref element="C45" pad="2"/>
+<contactref element="C46" pad="2"/>
+<contactref element="C49" pad="2"/>
+<contactref element="U16" pad="12"/>
+<contactref element="U16" pad="10"/>
+<contactref element="U16" pad="5"/>
+<contactref element="U16" pad="7"/>
+<contactref element="C50" pad="1"/>
+<contactref element="U14" pad="8"/>
+<contactref element="U14" pad="13"/>
+<contactref element="U14" pad="12"/>
+<contactref element="U14" pad="11"/>
+<contactref element="U14" pad="10"/>
+<contactref element="U14" pad="9"/>
+<wire x1="-30.011" y1="-46.228" x2="-31.711" y2="-49.276" width="0" layer="19" extent="1-1"/>
+<wire x1="-30.011" y1="-43.18" x2="-30.011" y2="-46.228" width="0" layer="19" extent="1-1"/>
+<wire x1="-30.011" y1="-40.132" x2="-30.011" y2="-43.18" width="0" layer="19" extent="1-1"/>
+<wire x1="-30.48" y1="-37.089" x2="-30.011" y2="-40.132" width="0" layer="19" extent="1-1"/>
+<wire x1="-31.755" y1="-36.814" x2="-30.48" y2="-37.089" width="0" layer="19" extent="1-1"/>
+<wire x1="-29.205" y1="-36.314" x2="-30.48" y2="-37.089" width="0" layer="19" extent="1-1"/>
+<wire x1="-29.205" y1="-35.314" x2="-29.205" y2="-36.314" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.328" y1="-37.084" x2="-29.205" y2="-36.314" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.328" y1="-34.036" x2="-26.328" y2="-37.084" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.328" y1="-30.988" x2="-26.328" y2="-34.036" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.328" y1="-27.94" x2="-26.328" y2="-30.988" width="0" layer="19" extent="1-1"/>
+<wire x1="-28.028" y1="-24.892" x2="-26.328" y2="-27.94" width="0" layer="19" extent="1-1"/>
+<wire x1="-27.834" y1="-11.595" x2="-28.028" y2="-24.892" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.014" y1="-9.995" x2="-27.834" y2="-11.595" width="0" layer="19" extent="1-1"/>
+<wire x1="-24.726" y1="-10.541" x2="-26.014" y2="-9.995" width="0" layer="19" extent="1-1"/>
+<wire x1="-24.726" y1="-6.223" x2="-26.014" y2="-9.995" width="0" layer="19" extent="1-1"/>
+<wire x1="-22.012" y1="-0.072" x2="-24.726" y2="-6.223" width="0" layer="19" extent="1-1"/>
+<wire x1="-21.137" y1="0.803" x2="-22.012" y2="-0.072" width="0" layer="19" extent="1-1"/>
+<wire x1="-21.137" y1="1.453" x2="-21.137" y2="0.803" width="0" layer="19" extent="1-1"/>
+<wire x1="-21.137" y1="2.103" x2="-21.137" y2="1.453" width="0" layer="19" extent="1-1"/>
+<wire x1="-21.137" y1="2.753" x2="-21.137" y2="2.103" width="0" layer="19" extent="1-1"/>
+<wire x1="-22.012" y1="3.628" x2="-21.137" y2="2.753" width="0" layer="19" extent="1-1"/>
+<wire x1="-24.837" y1="0.803" x2="-22.012" y2="-0.072" width="0" layer="19" extent="1-1"/>
+<wire x1="2.413" y1="5.334" x2="-21.137" y2="2.753" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="!PWR_KILL">
 <contactref element="U$16" pad="GPIO127_TS_IRQ"/>
@@ -3434,9 +3466,8 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="67.691" y1="42.164" x2="67.183" y2="42.672" width="0.2032" layer="1"/>
 <wire x1="109.887" y1="44.105" x2="113.447" y2="44.105" width="0.254" layer="16"/>
 <wire x1="113.447" y1="44.105" x2="113.665" y2="44.323" width="0.254" layer="16"/>
-<wire x1="113.665" y1="44.323" x2="113.665" y2="55.626" width="0.254" layer="16"/>
+<wire x1="113.665" y1="44.323" x2="113.665" y2="55.916" width="0.254" layer="16"/>
 <wire x1="113.665" y1="55.916" x2="109.887" y2="55.916" width="0.254" layer="16"/>
-<wire x1="113.665" y1="55.626" x2="113.665" y2="55.916" width="0.254" layer="16"/>
 <wire x1="94.858" y1="78.602" x2="94.858" y2="78.878" width="0.2032" layer="16"/>
 <wire x1="94.488" y1="78.232" x2="94.858" y2="78.602" width="0.2032" layer="16"/>
 <wire x1="44.831" y1="63.334" x2="44.831" y2="64.389" width="0.254" layer="16"/>
@@ -3448,19 +3479,12 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="41.148" y1="50.292" x2="45.72" y2="50.292" width="0.254" layer="16"/>
 <wire x1="40.933" y1="51.308" x2="40.933" y2="50.507" width="0.254" layer="16"/>
 <wire x1="40.933" y1="50.507" x2="41.148" y2="50.292" width="0.254" layer="16"/>
-<wire x1="113.665" y1="55.626" x2="113.665" y2="63.627" width="0.254" layer="16"/>
+<wire x1="113.665" y1="55.916" x2="113.665" y2="63.627" width="0.254" layer="16"/>
 <wire x1="113.665" y1="63.627" x2="113.411" y2="63.881" width="0.254" layer="16"/>
 <wire x1="113.411" y1="63.881" x2="99.187" y2="63.881" width="0.254" layer="16"/>
 <wire x1="99.187" y1="63.881" x2="98.933" y2="64.135" width="0.254" layer="16"/>
 <wire x1="98.933" y1="64.135" x2="98.933" y2="75.438" width="0.254" layer="16"/>
-<wire x1="67.183" y1="42.672" x2="67.183" y2="45.593" width="0.2032" layer="1"/>
-<wire x1="67.183" y1="45.593" x2="66.929" y2="45.847" width="0.2032" layer="1"/>
-<wire x1="66.929" y1="45.847" x2="66.167" y2="45.847" width="0.2032" layer="1"/>
-<wire x1="66.167" y1="45.847" x2="65.913" y2="46.101" width="0.2032" layer="1"/>
-<wire x1="65.913" y1="46.101" x2="65.913" y2="54.483" width="0.2032" layer="1"/>
-<wire x1="65.913" y1="54.483" x2="65.913" y2="56.007" width="0.2032" layer="16"/>
-<wire x1="65.913" y1="56.007" x2="65.913" y2="60.706" width="0.2032" layer="1"/>
-<wire x1="65.913" y1="60.706" x2="65.532" y2="61.087" width="0.2032" layer="1"/>
+<wire x1="67.183" y1="42.672" x2="67.183" y2="45.72" width="0.2032" layer="1"/>
 <wire x1="9.652" y1="15.875" x2="9.652" y2="17.78" width="0.4064" layer="16"/>
 <wire x1="9.652" y1="17.78" x2="9.779" y2="17.907" width="0.4064" layer="16"/>
 <wire x1="9.779" y1="17.907" x2="15.875" y2="17.907" width="0.4064" layer="16"/>
@@ -3488,7 +3512,6 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="28.067" y1="49.276" x2="29.845" y2="51.054" width="0.4064" layer="16"/>
 <wire x1="29.845" y1="51.054" x2="29.845" y2="53.721" width="0.4064" layer="16"/>
 <wire x1="6.35" y1="24.892" x2="1.905" y2="24.892" width="0.4064" layer="16"/>
-<wire x1="65.532" y1="61.087" x2="61.722" y2="61.087" width="0.254" layer="1"/>
 <wire x1="46.482" y1="56.896" x2="46.443" y2="56.896" width="0.4064" layer="1"/>
 <wire x1="46.482" y1="61.214" x2="46.482" y2="56.896" width="0.4064" layer="1"/>
 <wire x1="48.768" y1="63.5" x2="46.482" y2="61.214" width="0.4064" layer="1"/>
@@ -3531,8 +3554,6 @@ Please make sure your boards conform to these design rules.</description>
 <via x="94.488" y="78.232" extent="1-16" drill="0.381"/>
 <via x="45.212" y="64.77" extent="1-16" drill="0.381"/>
 <via x="98.933" y="75.438" extent="1-16" drill="0.381"/>
-<via x="65.913" y="54.483" extent="1-16" drill="0.381"/>
-<via x="65.913" y="56.007" extent="1-16" drill="0.381"/>
 <via x="61.722" y="61.087" extent="1-16" drill="0.381"/>
 <via x="8.255" y="29.337" extent="1-16" drill="0.381"/>
 <via x="6.223" y="26.924" extent="1-16" drill="0.381"/>
@@ -3597,6 +3618,18 @@ Please make sure your boards conform to these design rules.</description>
 <vertex x="35.052" y="59.563"/>
 <vertex x="20.574" y="59.563"/>
 </polygon>
+<wire x1="61.722" y1="61.087" x2="61.722" y2="60.96" width="0.2032" layer="1"/>
+<wire x1="67.183" y1="45.72" x2="67.564" y2="46.101" width="0.2032" layer="1"/>
+<wire x1="67.564" y1="46.101" x2="73.66" y2="46.101" width="0.2032" layer="1"/>
+<wire x1="73.66" y1="46.101" x2="75.438" y2="47.879" width="0.2032" layer="1"/>
+<wire x1="75.438" y1="47.879" x2="75.438" y2="53.975" width="0.2032" layer="1"/>
+<wire x1="75.438" y1="53.975" x2="76.454" y2="54.991" width="0.2032" layer="1"/>
+<wire x1="76.454" y1="54.991" x2="76.454" y2="56.515" width="0.2032" layer="1"/>
+<wire x1="76.454" y1="56.515" x2="74.295" y2="58.674" width="0.2032" layer="1"/>
+<wire x1="74.295" y1="58.674" x2="68.453" y2="58.674" width="0.2032" layer="1"/>
+<wire x1="68.453" y1="58.674" x2="66.167" y2="60.96" width="0.2032" layer="1"/>
+<wire x1="66.167" y1="60.96" x2="61.849" y2="60.96" width="0.2032" layer="1"/>
+<wire x1="61.849" y1="60.96" x2="61.722" y2="61.087" width="0.2032" layer="1"/>
 </signal>
 <signal name="N$142">
 <contactref element="X1" pad="1"/>
@@ -3973,32 +4006,6 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="28.067" y1="74.676" x2="28.067" y2="68.961" width="1.016" layer="16"/>
 <wire x1="28.067" y1="68.961" x2="27.559" y2="68.453" width="1.016" layer="16"/>
 </signal>
-<signal name="N$182">
-<contactref element="R60" pad="1"/>
-<contactref element="C57" pad="1"/>
-<contactref element="U$28" pad="2"/>
-<wire x1="63.08" y1="19.4564" x2="63.08" y2="21.209" width="0.2032" layer="1"/>
-<wire x1="63.0546" y1="19.431" x2="63.08" y2="19.4564" width="0.2032" layer="1"/>
-<wire x1="62.865" y1="19.431" x2="63.0546" y2="19.431" width="0.2032" layer="1"/>
-<wire x1="62.23" y1="18.796" x2="62.865" y2="19.431" width="0.2032" layer="1"/>
-<wire x1="62.23" y1="18.0848" x2="62.23" y2="18.796" width="0.2032" layer="1"/>
-<wire x1="62.1284" y1="17.9832" x2="62.23" y2="18.0848" width="0.2032" layer="1"/>
-</signal>
-<signal name="N$183">
-<contactref element="R60" pad="2"/>
-<contactref element="C58" pad="2"/>
-<wire x1="59.9694" y1="21.1954" x2="61.38" y2="21.1954" width="0.2032" layer="1"/>
-<wire x1="61.38" y1="21.1954" x2="61.38" y2="21.209" width="0.2032" layer="1"/>
-</signal>
-<signal name="N$185">
-<contactref element="C57" pad="2"/>
-<contactref element="C58" pad="1"/>
-<contactref element="U$28" pad="3"/>
-<wire x1="61.3546" y1="19.431" x2="61.3546" y2="17.9968" width="0.2032" layer="1"/>
-<wire x1="61.3546" y1="17.9968" x2="61.341" y2="17.9832" width="0.2032" layer="1"/>
-<wire x1="59.9694" y1="19.4954" x2="61.3546" y2="19.4954" width="0.2032" layer="1"/>
-<wire x1="61.3546" y1="19.4954" x2="61.3546" y2="19.431" width="0.2032" layer="1"/>
-</signal>
 <signal name="MOTOR0+">
 <contactref element="U$2" pad="1"/>
 <contactref element="U$2" pad="2"/>
@@ -4140,25 +4147,6 @@ Please make sure your boards conform to these design rules.</description>
 <vertex x="84.201" y="72.517"/>
 </polygon>
 </signal>
-<signal name="GYRO_OUT_YAW_FILT">
-<contactref element="R63" pad="1"/>
-<contactref element="C4" pad="1"/>
-<contactref element="U1" pad="63"/>
-<wire x1="74.168" y1="15.875" x2="74.129" y2="15.836" width="0.254" layer="1"/>
-<wire x1="74.168" y1="15.875" x2="75.438" y2="15.875" width="0.2032" layer="16"/>
-<wire x1="75.438" y1="15.875" x2="75.617" y2="16.054" width="0.2032" layer="16"/>
-<wire x1="68.287" y1="15.748" x2="73.533" y2="15.748" width="0.2032" layer="1"/>
-<wire x1="73.533" y1="15.748" x2="73.66" y2="15.875" width="0.2032" layer="1"/>
-<wire x1="73.66" y1="15.875" x2="74.168" y2="15.875" width="0.2032" layer="1"/>
-<wire x1="67.144" y1="19.177" x2="67.144" y2="20.574" width="0.2032" layer="1"/>
-<wire x1="67.183" y1="19.138" x2="67.144" y2="19.177" width="0.2032" layer="1"/>
-<wire x1="68.072" y1="15.963" x2="68.287" y2="15.748" width="0.2032" layer="1"/>
-<wire x1="68.072" y1="15.963" x2="68.072" y2="18.415" width="0.2032" layer="1"/>
-<wire x1="68.072" y1="18.415" x2="67.349" y2="19.138" width="0.2032" layer="1"/>
-<wire x1="67.349" y1="19.138" x2="67.183" y2="19.138" width="0.2032" layer="1"/>
-<wire x1="75.617" y1="16.054" x2="75.617" y2="17.138" width="0.2032" layer="16"/>
-<via x="74.168" y="15.875" extent="1-16" drill="0.381"/>
-</signal>
 <signal name="AVR_SCK">
 <contactref element="U1" pad="37"/>
 <contactref element="U$29" pad="3"/>
@@ -4692,37 +4680,35 @@ Please make sure your boards conform to these design rules.</description>
 <signal name="I2C_SCL_3.3V">
 <contactref element="U$35" pad="3"/>
 <contactref element="R50" pad="1"/>
-<contactref element="JP2" pad="8"/>
 <contactref element="U$1" pad="7"/>
 <wire x1="52.197" y1="54.991" x2="52.197" y2="54.483" width="0.2032" layer="16"/>
 <wire x1="52.197" y1="54.991" x2="52.197" y2="56.935" width="0.2032" layer="16"/>
 <wire x1="52.126" y1="54.412" x2="50.55" y2="54.412" width="0.2032" layer="16"/>
 <wire x1="52.197" y1="54.483" x2="52.126" y2="54.412" width="0.2032" layer="16"/>
 <wire x1="50.55" y1="55.062" x2="52.141" y2="55.062" width="0.2032" layer="1"/>
-<wire x1="69.723" y1="54.483" x2="69.723" y2="47.498" width="0.2032" layer="1"/>
-<wire x1="52.197" y1="54.991" x2="53.975" y2="54.991" width="0.2032" layer="1"/>
-<wire x1="53.975" y1="54.991" x2="54.229" y2="55.245" width="0.2032" layer="1"/>
-<wire x1="54.229" y1="55.245" x2="68.961" y2="55.245" width="0.2032" layer="1"/>
-<wire x1="68.961" y1="55.245" x2="69.723" y2="54.483" width="0.2032" layer="1"/>
 <wire x1="52.197" y1="55.006" x2="52.197" y2="54.991" width="0.2032" layer="1"/>
 <wire x1="52.141" y1="55.062" x2="52.197" y2="55.006" width="0.2032" layer="1"/>
 <via x="52.197" y="54.991" extent="1-16" drill="0.381"/>
+<contactref element="U15" pad="7"/>
+<contactref element="U16" pad="4"/>
+<wire x1="-26.014" y1="-11.195" x2="50.55" y2="54.412" width="0" layer="19" extent="1-16"/>
+<wire x1="-31.755" y1="-36.314" x2="-26.014" y2="-11.195" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="I2C_SDA_3.3V">
 <contactref element="U$35" pad="4"/>
 <contactref element="R49" pad="1"/>
-<contactref element="JP2" pad="7"/>
 <contactref element="U$1" pad="8"/>
 <wire x1="53.467" y1="55.753" x2="53.467" y2="53.721" width="0.2032" layer="16"/>
 <wire x1="53.467" y1="55.753" x2="53.467" y2="56.935" width="0.2032" layer="16"/>
 <wire x1="50.55" y1="55.712" x2="53.426" y2="55.712" width="0.2032" layer="1"/>
 <wire x1="53.426" y1="55.712" x2="53.467" y2="55.753" width="0.2032" layer="1"/>
-<wire x1="67.183" y1="53.467" x2="67.183" y2="47.498" width="0.2032" layer="16"/>
-<wire x1="66.929" y1="53.721" x2="67.183" y2="53.467" width="0.2032" layer="16"/>
-<wire x1="53.467" y1="53.721" x2="66.929" y2="53.721" width="0.2032" layer="16"/>
 <wire x1="53.467" y1="53.721" x2="50.591" y2="53.721" width="0.2032" layer="16"/>
 <wire x1="50.591" y1="53.721" x2="50.55" y2="53.762" width="0.2032" layer="16"/>
 <via x="53.467" y="55.753" extent="1-16" drill="0.381"/>
+<contactref element="U15" pad="6"/>
+<contactref element="U16" pad="6"/>
+<wire x1="-26.014" y1="-11.595" x2="50.591" y2="53.721" width="0" layer="19" extent="1-16"/>
+<wire x1="-30.98" y1="-37.089" x2="-26.014" y2="-11.595" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="I2C_SDA_5V">
 <contactref element="U$35" pad="8"/>
@@ -5079,7 +5065,6 @@ Please make sure your boards conform to these design rules.</description>
 </signal>
 <signal name="GYRO_PD">
 <contactref element="U1" pad="29"/>
-<contactref element="U$28" pad="12"/>
 <wire x1="81.117" y1="24.547" x2="81.117" y2="25.788" width="0.2032" layer="16"/>
 <wire x1="82.042" y1="23.622" x2="81.117" y2="24.547" width="0.2032" layer="16"/>
 <wire x1="82.296" y1="23.368" x2="82.296" y2="23.622" width="0.2032" layer="1"/>
@@ -5097,7 +5082,6 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="67.691" y1="14.986" x2="68.072" y2="15.367" width="0.2032" layer="1"/>
 <wire x1="65.913" y1="14.986" x2="67.691" y2="14.986" width="0.2032" layer="1"/>
 <wire x1="62.103" y1="12.954" x2="62.103" y2="13.4874" width="0.2032" layer="1"/>
-<wire x1="62.103" y1="13.4874" x2="62.1284" y2="13.5128" width="0.2032" layer="1"/>
 <wire x1="62.611" y1="12.446" x2="62.103" y2="12.954" width="0.2032" layer="1"/>
 <wire x1="63.373" y1="12.446" x2="62.611" y2="12.446" width="0.2032" layer="1"/>
 <wire x1="63.373" y1="12.446" x2="65.913" y2="14.986" width="0.2032" layer="1"/>
@@ -5105,7 +5089,6 @@ Please make sure your boards conform to these design rules.</description>
 </signal>
 <signal name="GYRO_ST">
 <contactref element="U1" pad="30"/>
-<contactref element="U$28" pad="11"/>
 <wire x1="81.617" y1="25.063" x2="81.617" y2="25.788" width="0.2032" layer="16"/>
 <wire x1="81.788" y1="24.892" x2="81.617" y2="25.063" width="0.2032" layer="16"/>
 <wire x1="82.296" y1="24.892" x2="81.788" y2="24.892" width="0.2032" layer="16"/>
@@ -5126,7 +5109,6 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="68.199" y1="14.986" x2="73.406" y2="14.986" width="0.2032" layer="1"/>
 <wire x1="67.818" y1="14.605" x2="68.199" y2="14.986" width="0.2032" layer="1"/>
 <wire x1="66.167" y1="14.605" x2="67.818" y2="14.605" width="0.2032" layer="1"/>
-<wire x1="61.341" y1="12.7" x2="61.341" y2="13.5128" width="0.2032" layer="1"/>
 <wire x1="61.976" y1="12.065" x2="61.341" y2="12.7" width="0.2032" layer="1"/>
 <wire x1="61.976" y1="12.065" x2="63.627" y2="12.065" width="0.2032" layer="1"/>
 <wire x1="63.627" y1="12.065" x2="66.167" y2="14.605" width="0.2032" layer="1"/>
@@ -5252,7 +5234,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="J8" pad="1"/>
 <contactref element="U7" pad="19"/>
 <contactref element="C6" pad="1"/>
-<contactref element="JP2" pad="2"/>
 <contactref element="C14" pad="1"/>
 <contactref element="C15" pad="1"/>
 <contactref element="C16" pad="1"/>
@@ -5262,7 +5243,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="U1" pad="44"/>
 <contactref element="U1" pad="54"/>
 <contactref element="U1" pad="59"/>
-<contactref element="JP2" pad="3"/>
 <contactref element="R108" pad="2"/>
 <contactref element="R115" pad="2"/>
 <contactref element="R106" pad="2"/>
@@ -5286,8 +5266,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="R61" pad="2"/>
 <contactref element="C12" pad="1"/>
 <contactref element="U2" pad="1"/>
-<contactref element="C62" pad="1"/>
-<contactref element="C20" pad="1"/>
 <contactref element="Q9" pad="5"/>
 <contactref element="Q8" pad="4"/>
 <contactref element="Q8" pad="5"/>
@@ -5319,9 +5297,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="IC1" pad="24"/>
 <contactref element="IC1" pad="22"/>
 <contactref element="C31" pad="1"/>
-<contactref element="U$28" pad="16"/>
-<contactref element="U$28" pad="15"/>
-<contactref element="U$28" pad="14"/>
 <contactref element="U$10" pad="4"/>
 <contactref element="L2" pad="2"/>
 <contactref element="C23" pad="+"/>
@@ -5499,18 +5474,8 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="71.628" y1="26.377" x2="72.39" y2="25.615" width="0.2032" layer="1"/>
 <wire x1="67.945" y1="25.488" x2="68.238" y2="25.781" width="0.2032" layer="1"/>
 <wire x1="68.238" y1="25.781" x2="69.342" y2="25.781" width="0.2032" layer="1"/>
-<wire x1="63.5762" y1="14.9606" x2="63.7794" y2="14.9606" width="0.2032" layer="1"/>
-<wire x1="63.5762" y1="14.9606" x2="63.5762" y2="15.748" width="0.2032" layer="1"/>
-<wire x1="63.5762" y1="15.748" x2="63.5762" y2="16.5354" width="0.2032" layer="1"/>
 <wire x1="57.023" y1="22.352" x2="57.023" y2="23.28" width="0.2032" layer="1"/>
 <wire x1="57.658" y1="21.717" x2="57.023" y2="22.352" width="0.2032" layer="1"/>
-<wire x1="57.951" y1="9.652" x2="57.901" y2="9.702" width="0.2032" layer="1"/>
-<wire x1="57.901" y1="9.702" x2="57.901" y2="11.557" width="0.2032" layer="1"/>
-<wire x1="57.901" y1="11.557" x2="57.012" y2="12.446" width="0.2032" layer="1"/>
-<wire x1="57.012" y1="12.446" x2="56.515" y2="12.446" width="0.2032" layer="1"/>
-<wire x1="63.5762" y1="14.9606" x2="64.9986" y2="14.9606" width="0.2032" layer="1"/>
-<wire x1="64.9986" y1="14.9606" x2="65.786" y2="15.748" width="0.2032" layer="1"/>
-<wire x1="65.786" y1="15.748" x2="66.294" y2="15.748" width="0.2032" layer="1"/>
 <wire x1="57.023" y1="23.28" x2="57.531" y2="23.28" width="0.2032" layer="1"/>
 <wire x1="57.531" y1="23.28" x2="57.746" y2="23.495" width="0.2032" layer="1"/>
 <wire x1="68.961" y1="25.4" x2="68.033" y2="25.4" width="0.2032" layer="16"/>
@@ -5608,8 +5573,6 @@ Please make sure your boards conform to these design rules.</description>
 <via x="1.905" y="13.589" extent="1-16" drill="0.381"/>
 <via x="102.743" y="76.835" extent="1-16" drill="0.381"/>
 <via x="57.658" y="21.717" extent="1-16" drill="0.381"/>
-<via x="56.515" y="12.446" extent="1-16" drill="0.381"/>
-<via x="66.294" y="15.748" extent="1-16" drill="0.381"/>
 <via x="23.749" y="60.706" extent="1-16" drill="0.6"/>
 <via x="13.716" y="61.214" extent="1-16" drill="0.6"/>
 <via x="12.827" y="57.15" extent="1-16" drill="0.6"/>
@@ -5676,6 +5639,32 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="50.165" y1="63.881" x2="51.054" y2="62.992" width="0.2032" layer="16"/>
 <wire x1="51.054" y1="62.992" x2="51.054" y2="58.762" width="0.2032" layer="16"/>
 <wire x1="51.054" y1="58.762" x2="50.927" y2="58.635" width="0.2032" layer="16"/>
+<contactref element="U14" pad="15"/>
+<contactref element="U14" pad="1"/>
+<contactref element="U14" pad="16"/>
+<contactref element="U15" pad="8"/>
+<contactref element="U15" pad="2"/>
+<contactref element="C25" pad="1"/>
+<contactref element="C26" pad="1"/>
+<contactref element="C24" pad="2"/>
+<contactref element="U16" pad="1"/>
+<contactref element="C46" pad="1"/>
+<contactref element="U16" pad="14"/>
+<contactref element="C45" pad="1"/>
+<contactref element="C50" pad="2"/>
+<wire x1="-31.711" y1="-43.18" x2="-30.011" y2="-49.276" width="0" layer="19" extent="1-1"/>
+<wire x1="-31.711" y1="-40.132" x2="-31.711" y2="-43.18" width="0" layer="19" extent="1-1"/>
+<wire x1="-31.755" y1="-34.814" x2="-31.711" y2="-40.132" width="0" layer="19" extent="1-1"/>
+<wire x1="-29.98" y1="-34.539" x2="-31.755" y2="-34.814" width="0" layer="19" extent="1-1"/>
+<wire x1="-28.028" y1="-30.988" x2="-29.98" y2="-34.539" width="0" layer="19" extent="1-1"/>
+<wire x1="-28.028" y1="-27.94" x2="-28.028" y2="-30.988" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.328" y1="-24.892" x2="-28.028" y2="-27.94" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.014" y1="-10.795" x2="-26.328" y2="-24.892" width="0" layer="19" extent="1-1"/>
+<wire x1="-27.834" y1="-10.395" x2="-26.014" y2="-10.795" width="0" layer="19" extent="1-1"/>
+<wire x1="-24.837" y1="2.753" x2="-27.834" y2="-10.395" width="0" layer="19" extent="1-1"/>
+<wire x1="-23.962" y1="3.628" x2="-24.837" y2="2.753" width="0" layer="19" extent="1-1"/>
+<wire x1="-23.312" y1="3.628" x2="-23.962" y2="3.628" width="0" layer="19" extent="1-1"/>
+<wire x1="2.413" y1="10.16" x2="-23.312" y2="3.628" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="DEBUG_TX_1.8V">
 <contactref element="U$16" pad="GPIO166_IR_TXD3"/>
@@ -8601,53 +8590,6 @@ Please make sure your boards conform to these design rules.</description>
 <via x="94.996" y="38.862" extent="1-16" drill="0.4064"/>
 <via x="90.551" y="38.608" extent="1-16" drill="0.4064"/>
 </signal>
-<signal name="GYRO_OUT_PITCH">
-<contactref element="R64" pad="2"/>
-<contactref element="R65" pad="2"/>
-<contactref element="U$28" pad="4"/>
-<wire x1="69.469" y1="20.662" x2="70.993" y2="20.662" width="0.2032" layer="1"/>
-<wire x1="60.5536" y1="17.2974" x2="60.5536" y2="17.9832" width="0.2032" layer="1"/>
-<wire x1="60.5536" y1="17.2974" x2="61.214" y2="16.637" width="0.2032" layer="1"/>
-<wire x1="61.214" y1="16.637" x2="62.738" y2="16.637" width="0.2032" layer="16"/>
-<wire x1="62.738" y1="16.637" x2="67.945" y2="21.844" width="0.2032" layer="16"/>
-<wire x1="67.945" y1="21.844" x2="68.287" y2="21.844" width="0.2032" layer="1"/>
-<wire x1="68.287" y1="21.844" x2="69.469" y2="20.662" width="0.2032" layer="1"/>
-<via x="61.214" y="16.637" extent="1-16" drill="0.381"/>
-<via x="67.945" y="21.844" extent="1-16" drill="0.381"/>
-</signal>
-<signal name="GYRO_OUT_PITCH_FILT">
-<contactref element="R64" pad="1"/>
-<contactref element="U1" pad="2"/>
-<contactref element="C7" pad="1"/>
-<wire x1="74.22" y1="18.213" x2="74.542" y2="18.213" width="0.2032" layer="16"/>
-<wire x1="74.041" y1="18.034" x2="74.22" y2="18.213" width="0.2032" layer="16"/>
-<wire x1="72.517" y1="17.145" x2="73.406" y2="18.034" width="0.2032" layer="16"/>
-<wire x1="73.406" y1="18.034" x2="74.041" y2="18.034" width="0.2032" layer="16"/>
-<wire x1="70.993" y1="17.868" x2="70.993" y2="18.962" width="0.2032" layer="1"/>
-<wire x1="71.208" y1="17.653" x2="70.993" y2="17.868" width="0.2032" layer="1"/>
-<wire x1="71.208" y1="17.653" x2="72.009" y2="17.653" width="0.2032" layer="1"/>
-<wire x1="72.009" y1="17.653" x2="72.517" y2="17.145" width="0.2032" layer="1"/>
-<via x="72.517" y="17.145" extent="1-16" drill="0.381"/>
-</signal>
-<signal name="GYRO_OUT_YAW">
-<contactref element="R66" pad="2"/>
-<contactref element="U$28" pad="10"/>
-<contactref element="R63" pad="2"/>
-<wire x1="60.5536" y1="13.5128" x2="60.579" y2="13.4874" width="0.2032" layer="1"/>
-<wire x1="65.405" y1="17.438" x2="67.183" y2="17.438" width="0.2032" layer="1"/>
-<wire x1="64.897" y1="16.93" x2="65.405" y2="17.438" width="0.2032" layer="1"/>
-<wire x1="64.897" y1="15.875" x2="64.897" y2="16.93" width="0.2032" layer="1"/>
-<wire x1="63.754" y1="14.732" x2="64.897" y2="15.875" width="0.2032" layer="16"/>
-<wire x1="62.357" y1="14.732" x2="63.754" y2="14.732" width="0.2032" layer="16"/>
-<wire x1="60.452" y1="13.6144" x2="60.452" y2="13.97" width="0.2032" layer="1"/>
-<wire x1="60.5536" y1="13.5128" x2="60.452" y2="13.6144" width="0.1778" layer="1"/>
-<wire x1="60.452" y1="13.97" x2="60.579" y2="14.097" width="0.2032" layer="1"/>
-<wire x1="60.579" y1="14.097" x2="60.579" y2="14.478" width="0.2032" layer="1"/>
-<wire x1="60.579" y1="14.478" x2="60.833" y2="14.732" width="0.2032" layer="1"/>
-<wire x1="60.833" y1="14.732" x2="62.357" y2="14.732" width="0.2032" layer="1"/>
-<via x="64.897" y="15.875" extent="1-16" drill="0.381"/>
-<via x="62.357" y="14.732" extent="1-16" drill="0.381"/>
-</signal>
 <signal name="N$15">
 <contactref element="U$3" pad="2"/>
 <contactref element="L3" pad="P$1"/>
@@ -8724,8 +8666,6 @@ Please make sure your boards conform to these design rules.</description>
 <contactref element="U$3" pad="5"/>
 <contactref element="U$10" pad="1"/>
 <wire x1="7.112" y1="62.357" x2="19.431" y2="62.357" width="0.4064" layer="16"/>
-<wire x1="29.21" y1="57.785" x2="31.496" y2="57.785" width="0.4064" layer="1"/>
-<wire x1="31.496" y1="57.785" x2="31.75" y2="58.039" width="0.4064" layer="1"/>
 <wire x1="40.767" y1="85.311" x2="43.209" y2="85.311" width="0.4064" layer="1"/>
 <wire x1="40.767" y1="83.566" x2="40.767" y2="85.311" width="0.4064" layer="1"/>
 <wire x1="40.386" y1="83.185" x2="40.767" y2="83.566" width="0.4064" layer="1"/>
@@ -8755,7 +8695,12 @@ Please make sure your boards conform to these design rules.</description>
 <via x="15.367" y="56.134" extent="1-16" drill="0.6"/>
 <via x="20.828" y="63.754" extent="1-16" drill="0.6"/>
 <contactref element="U$9" pad="4"/>
-<wire x1="31.75" y1="58.039" x2="32.7" y2="58.968" width="0" layer="19" extent="1-1"/>
+<wire x1="29.21" y1="57.785" x2="31.877" y2="57.785" width="0.2032" layer="1"/>
+<wire x1="31.877" y1="57.785" x2="32.258" y2="58.166" width="0.2032" layer="1"/>
+<wire x1="32.258" y1="58.166" x2="32.512" y2="58.166" width="0.2032" layer="1"/>
+<wire x1="32.512" y1="58.166" x2="32.639" y2="58.293" width="0.2032" layer="1"/>
+<wire x1="32.639" y1="58.293" x2="32.639" y2="58.907" width="0.2032" layer="1"/>
+<wire x1="32.639" y1="58.907" x2="32.7" y2="58.968" width="0.2032" layer="1"/>
 </signal>
 <signal name="ARM_SHDN">
 <contactref element="U10" pad="8"/>
@@ -8819,6 +8764,48 @@ Please make sure your boards conform to these design rules.</description>
 <wire x1="1.016" y1="43.815" x2="1.016" y2="24.511" width="0.2032" layer="16"/>
 <wire x1="1.778" y1="23.749" x2="1.016" y2="24.511" width="0.2032" layer="16"/>
 </signal>
+<signal name="N$38">
+<contactref element="U14" pad="14"/>
+<contactref element="C1" pad="1"/>
+<contactref element="C21" pad="2"/>
+<wire x1="-24.726" y1="-3.175" x2="-23.026" y2="-6.223" width="0" layer="19" extent="1-1"/>
+<wire x1="-22.662" y1="3.628" x2="-24.726" y2="-3.175" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$39">
+<contactref element="C1" pad="2"/>
+<contactref element="R2" pad="2"/>
+<wire x1="-23.026" y1="-3.175" x2="-23.026" y2="-10.541" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="MAG_INT">
+<contactref element="U15" pad="9"/>
+</signal>
+<signal name="N$53">
+<contactref element="U15" pad="1"/>
+<contactref element="C27" pad="1"/>
+<wire x1="-27.834" y1="-9.995" x2="-28.028" y2="-34.036" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$54">
+<contactref element="U15" pad="4"/>
+<contactref element="C28" pad="1"/>
+<wire x1="-27.834" y1="-11.195" x2="-28.028" y2="-37.084" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$50">
+<contactref element="U16" pad="2"/>
+<contactref element="C49" pad="1"/>
+<wire x1="-31.755" y1="-35.314" x2="-31.711" y2="-46.228" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="GYRO_INT_2">
+<contactref element="U14" pad="6"/>
+</signal>
+<signal name="GYRO_INT_1">
+<contactref element="U14" pad="7"/>
+</signal>
+<signal name="ACC_INT_2">
+<contactref element="U16" pad="9"/>
+</signal>
+<signal name="ACC_INT_1">
+<contactref element="U16" pad="11"/>
+</signal>
 </signals>
 </board>
 </drawing>
