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.sch b/scoutfly/scoutfly_rev3.sch
index 87423b7..12bfacd 100755
--- a/scoutfly/scoutfly_rev3.sch
+++ b/scoutfly/scoutfly_rev3.sch
@@ -773,42 +773,6 @@
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 <text x="8.27" y="-4.508" size="1.27" layer="25" font="vector" ratio="15" rot="R90">&gt;NAME</text>
 </package>
-<package name="LGA16">
-<description>LGA16 for LPY5150AL</description>
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@@ -1801,30 +1765,6 @@ Source: http://www.hirose.co.jp/cataloge_hp/e24000019.pdf</description>
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@@ -2528,37 +2468,6 @@ Source: http://www.hirose.co.jp/cataloge_hp/e24000019.pdf</description>
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@@ -5495,205 +5404,6 @@ will be further integrated into the Sparkfun Library for other footprints.  It c
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-<wire x1="-0.635" y1="1.27" x2="-1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.635" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="-1.27" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="17.145" y1="1.27" x2="18.415" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="18.415" y1="1.27" x2="19.05" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="0.635" x2="19.05" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="-0.635" x2="18.415" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="17.145" y1="1.27" x2="16.51" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="16.51" y1="-0.635" x2="17.145" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="18.415" y1="-1.27" x2="17.145" y2="-1.27" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0.127" drill="1.016" diameter="1.8796" shape="square" rot="R90"/>
-<pad name="2" x="2.54" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="5" x="10.16" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="6" x="12.7" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="7" x="15.24" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="8" x="17.78" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<text x="-1.3462" y="1.8288" size="1.27" layer="25" ratio="10">&gt;NAME</text>
-<text x="-1.27" y="-3.175" size="1.27" layer="27">&gt;VALUE</text>
-<rectangle x1="14.986" y1="-0.254" x2="15.494" y2="0.254" layer="51"/>
-<rectangle x1="12.446" y1="-0.254" x2="12.954" y2="0.254" layer="51"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<rectangle x1="17.526" y1="-0.254" x2="18.034" y2="0.254" layer="51"/>
-</package>
-<package name="1X08_LOCK_LONGPADS">
-<wire x1="1.524" y1="0" x2="1.016" y2="0" width="0.2032" layer="21"/>
-<wire x1="4.064" y1="0" x2="3.556" y2="0" width="0.2032" layer="21"/>
-<wire x1="6.604" y1="0" x2="6.096" y2="0" width="0.2032" layer="21"/>
-<wire x1="9.144" y1="0" x2="8.636" y2="0" width="0.2032" layer="21"/>
-<wire x1="11.684" y1="0" x2="11.176" y2="0" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0" x2="-1.016" y2="0" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0" x2="-1.27" y2="0.9906" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.9906" x2="-0.9906" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0" x2="-1.27" y2="-0.9906" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.9906" x2="-0.9906" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="14.224" y1="0" x2="13.716" y2="0" width="0.2032" layer="21"/>
-<wire x1="16.764" y1="0" x2="16.256" y2="0" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="0" x2="19.05" y2="-0.9906" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="-0.9906" x2="18.7706" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="0" x2="19.05" y2="0.9906" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="0.9906" x2="18.7706" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="0" x2="18.796" y2="0" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="-0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="-0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="5" x="10.16" y="0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="6" x="12.7" y="-0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="7" x="15.24" y="0.127" drill="1.016" shape="long" rot="R90"/>
-<pad name="8" x="17.78" y="-0.127" drill="1.016" shape="long" rot="R90"/>
-<text x="-1.27" y="1.905" size="1.27" layer="25" font="vector">&gt;NAME</text>
-<text x="-1.27" y="-3.175" size="1.27" layer="27" font="vector">&gt;VALUE</text>
-<rectangle x1="-0.2921" y1="-0.2921" x2="0.2921" y2="0.2921" layer="51"/>
-<rectangle x1="2.2479" y1="-0.2921" x2="2.8321" y2="0.2921" layer="51"/>
-<rectangle x1="4.7879" y1="-0.2921" x2="5.3721" y2="0.2921" layer="51"/>
-<rectangle x1="7.3279" y1="-0.2921" x2="7.9121" y2="0.2921" layer="51" rot="R90"/>
-<rectangle x1="9.8679" y1="-0.2921" x2="10.4521" y2="0.2921" layer="51"/>
-<rectangle x1="12.4079" y1="-0.2921" x2="12.9921" y2="0.2921" layer="51"/>
-<rectangle x1="14.9479" y1="-0.2921" x2="15.5321" y2="0.2921" layer="51"/>
-<rectangle x1="17.4879" y1="-0.2921" x2="18.0721" y2="0.2921" layer="51"/>
-</package>
-<package name="1X08_LONGPADS">
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="19.05" y1="0.635" x2="19.05" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="5" x="10.16" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="6" x="12.7" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="7" x="15.24" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="8" x="17.78" y="0" drill="1.016" diameter="1.8796" shape="long" rot="R90"/>
-<text x="-1.3462" y="2.4638" size="1.27" layer="25" ratio="10">&gt;NAME</text>
-<text x="-1.27" y="-3.81" size="1.27" layer="27">&gt;VALUE</text>
-<rectangle x1="14.986" y1="-0.254" x2="15.494" y2="0.254" layer="51"/>
-<rectangle x1="12.446" y1="-0.254" x2="12.954" y2="0.254" layer="51"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<rectangle x1="17.526" y1="-0.254" x2="18.034" y2="0.254" layer="51"/>
-</package>
 <package name="1X03">
 <wire x1="3.81" y1="0.635" x2="4.445" y2="1.27" width="0.2032" layer="21"/>
 <wire x1="4.445" y1="1.27" x2="5.715" y2="1.27" width="0.2032" layer="21"/>
@@ -6290,30 +6000,6 @@ will be further integrated into the Sparkfun Library for other footprints.  It c
 <pin name="3" x="5.08" y="2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
 <pin name="4" x="5.08" y="5.08" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
 </symbol>
-<symbol name="M08">
-<wire x1="1.27" y1="-10.16" x2="-5.08" y2="-10.16" width="0.4064" layer="94"/>
-<wire x1="-1.27" y1="-2.54" x2="0" y2="-2.54" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="-5.08" x2="0" y2="-5.08" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="-7.62" x2="0" y2="-7.62" width="0.6096" layer="94"/>
-<wire x1="-5.08" y1="12.7" x2="-5.08" y2="-10.16" width="0.4064" layer="94"/>
-<wire x1="1.27" y1="-10.16" x2="1.27" y2="12.7" width="0.4064" layer="94"/>
-<wire x1="-5.08" y1="12.7" x2="1.27" y2="12.7" width="0.4064" layer="94"/>
-<wire x1="-1.27" y1="2.54" x2="0" y2="2.54" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="0" x2="0" y2="0" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="5.08" x2="0" y2="5.08" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="7.62" x2="0" y2="7.62" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="10.16" x2="0" y2="10.16" width="0.6096" layer="94"/>
-<text x="-5.08" y="-12.7" size="1.778" layer="96">&gt;VALUE</text>
-<text x="-5.08" y="13.462" size="1.778" layer="95">&gt;NAME</text>
-<pin name="1" x="5.08" y="-7.62" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="2" x="5.08" y="-5.08" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="3" x="5.08" y="-2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="4" x="5.08" y="0" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="5" x="5.08" y="2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="6" x="5.08" y="5.08" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="7" x="5.08" y="7.62" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="8" x="5.08" y="10.16" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-</symbol>
 <symbol name="M03">
 <wire x1="3.81" y1="-5.08" x2="-2.54" y2="-5.08" width="0.4064" layer="94"/>
 <wire x1="1.27" y1="2.54" x2="2.54" y2="2.54" width="0.6096" layer="94"/>
@@ -6773,75 +6459,6 @@ Standard 4-pin 0.1" header. Use with straight break away headers (SKU : PRT-0011
 </device>
 </devices>
 </deviceset>
-<deviceset name="M08" prefix="JP" uservalue="yes">
-<description>&lt;b&gt;Header 8&lt;/b&gt;
-Standard 8-pin 0.1" header. Use with straight break away headers (SKU : PRT-00116), right angle break away headers (PRT-00553), swiss pins (PRT-00743), machine pins (PRT-00117), and female headers (PRT-00115).</description>
-<gates>
-<gate name="G$1" symbol="M08" x="-2.54" y="0"/>
-</gates>
-<devices>
-<device name="" package="1X08">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-<connect gate="G$1" pin="6" pad="6"/>
-<connect gate="G$1" pin="7" pad="7"/>
-<connect gate="G$1" pin="8" pad="8"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="LOCK" package="1X08_LOCK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-<connect gate="G$1" pin="6" pad="6"/>
-<connect gate="G$1" pin="7" pad="7"/>
-<connect gate="G$1" pin="8" pad="8"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="LOCK_LONGPADS" package="1X08_LOCK_LONGPADS">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-<connect gate="G$1" pin="6" pad="6"/>
-<connect gate="G$1" pin="7" pad="7"/>
-<connect gate="G$1" pin="8" pad="8"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="LONGPADS" package="1X08_LONGPADS">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-<connect gate="G$1" pin="6" pad="6"/>
-<connect gate="G$1" pin="7" pad="7"/>
-<connect gate="G$1" pin="8" pad="8"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
 <deviceset name="M03" prefix="JP" uservalue="yes">
 <description>&lt;b&gt;Header 3&lt;/b&gt;
 Standard 3-pin 0.1" header. Use with straight break away headers (SKU : PRT-00116), right angle break away headers (PRT-00553), swiss pins (PRT-00743), machine pins (PRT-00117), and female headers (PRT-00115). Molex polarized connector foot print use with SKU : PRT-08232 with associated crimp pins and housings.</description>
@@ -19071,6 +18688,338 @@ W = angled&lt;p&gt;
 </deviceset>
 </devicesets>
 </library>
+<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>
+<packages>
+<package name="LGA16-4X4">
+<description>&lt;h3&gt;16-pin LGA Package&lt;/h3&gt;
+4x4x1.1mm&lt;br&gt;
+0.65mm pitch&lt;br&gt;
+4pins-by-4pins&lt;br&gt;
+&lt;br&gt;
+Package used by L3G4200D 3-axis gyro&lt;br&gt;
+&lt;br&gt;
+&lt;B&gt;***UNPROVEN***&lt;/b&gt;</description>
+<wire x1="2" y1="2" x2="2" y2="-2" width="0.127" layer="51"/>
+<wire x1="2" y1="-2" x2="-2" y2="-2" width="0.127" layer="51"/>
+<wire x1="-2" y1="-2" x2="-2" y2="2" width="0.127" layer="51"/>
+<wire x1="-2" y1="2" x2="2" y2="2" width="0.127" layer="51"/>
+<wire x1="-2" y1="1.4" x2="-1.4" y2="2" width="0.1778" layer="21"/>
+<wire x1="-2" y1="-2" x2="-2" y2="-1.4" width="0.1778" layer="21"/>
+<wire x1="-2" y1="-2" x2="-1.4" y2="-2" width="0.1778" layer="21"/>
+<wire x1="2" y1="-2" x2="1.4" y2="-2" width="0.1778" layer="21"/>
+<wire x1="2" y1="-2" x2="2" y2="-1.4" width="0.1778" layer="21"/>
+<wire x1="2" y1="2" x2="2" y2="1.4" width="0.1778" layer="21"/>
+<wire x1="2" y1="2" x2="1.4" y2="2" width="0.1778" layer="21"/>
+<wire x1="-0.2286" y1="0.3048" x2="-0.9906" y2="0.3048" width="0.127" layer="51" curve="185.31972"/>
+<wire x1="-0.6096" y1="1.0414" x2="-0.6096" y2="0.127" width="0.127" layer="51"/>
+<wire x1="-0.6096" y1="1.0414" x2="-0.7874" y2="0.889" width="0.127" layer="51"/>
+<wire x1="-0.6096" y1="1.0414" x2="-0.4318" y2="0.889" width="0.127" layer="51"/>
+<wire x1="-0.2286" y1="-0.9906" x2="-0.2286" y2="-0.2286" width="0.127" layer="51" curve="185.31972"/>
+<wire x1="0.508" y1="-0.6096" x2="-0.4064" y2="-0.6096" width="0.127" layer="51"/>
+<wire x1="0.508" y1="-0.6096" x2="0.3556" y2="-0.4318" width="0.127" layer="51"/>
+<wire x1="0.508" y1="-0.6096" x2="0.3556" y2="-0.7874" width="0.127" layer="51"/>
+<wire x1="0.635" y1="0.1524" x2="0.635" y2="0.9144" width="0.127" layer="51" curve="185.31972"/>
+<wire x1="0.635" y1="0.9144" x2="0.8128" y2="1.0922" width="0.127" layer="51"/>
+<wire x1="0.635" y1="0.9144" x2="0.7366" y2="0.7112" width="0.127" layer="51"/>
+<wire x1="-0.2286" y1="-0.9906" x2="-0.127" y2="-0.762" width="0.127" layer="51"/>
+<wire x1="-0.2286" y1="-0.9906" x2="-0.0762" y2="-1.143" width="0.127" layer="51"/>
+<wire x1="-0.2286" y1="0.3048" x2="-0.4064" y2="0.4064" width="0.127" layer="51"/>
+<wire x1="-0.2286" y1="0.3048" x2="-0.1016" y2="0.4826" width="0.127" layer="51"/>
+<smd name="1" x="-1.85" y="0.975" dx="1" dy="0.4" layer="1" rot="R180"/>
+<smd name="2" x="-1.85" y="0.325" dx="1" dy="0.4" layer="1" rot="R180"/>
+<smd name="3" x="-1.85" y="-0.325" dx="1" dy="0.4" layer="1" rot="R180"/>
+<smd name="4" x="-1.85" y="-0.975" dx="1" dy="0.4" layer="1" rot="R180"/>
+<smd name="5" x="-0.975" y="-1.85" dx="1" dy="0.4" layer="1" rot="R270"/>
+<smd name="6" x="-0.325" y="-1.85" dx="1" dy="0.4" layer="1" rot="R270"/>
+<smd name="7" x="0.325" y="-1.85" dx="1" dy="0.4" layer="1" rot="R270"/>
+<smd name="8" x="0.975" y="-1.85" dx="1" dy="0.4" layer="1" rot="R270"/>
+<smd name="9" x="1.85" y="-0.975" dx="1" dy="0.4" layer="1"/>
+<smd name="10" x="1.85" y="-0.325" dx="1" dy="0.4" layer="1"/>
+<smd name="11" x="1.85" y="0.325" dx="1" dy="0.4" layer="1"/>
+<smd name="12" x="1.85" y="0.975" dx="1" dy="0.4" layer="1"/>
+<smd name="13" x="0.975" y="1.85" dx="1" dy="0.4" layer="1" rot="R90"/>
+<smd name="14" x="0.325" y="1.85" dx="1" dy="0.4" layer="1" rot="R90"/>
+<smd name="15" x="-0.325" y="1.85" dx="1" dy="0.4" layer="1" rot="R90"/>
+<smd name="16" x="-0.975" y="1.85" dx="1" dy="0.4" layer="1" rot="R90"/>
+<text x="-1.2446" y="2.54" size="0.4064" layer="25">&gt;Name</text>
+<text x="-1.27" y="-2.9718" size="0.4064" layer="27">&gt;Value</text>
+<text x="0.3302" y="0.3302" size="0.4064" layer="51" ratio="15">Z</text>
+<text x="-0.3556" y="0.7112" size="0.4064" layer="51" ratio="15">Y</text>
+<text x="-0.762" y="-0.8128" size="0.4064" layer="51" ratio="15">X</text>
+<rectangle x1="-1.9" y1="0.175" x2="-1.5" y2="0.475" layer="51"/>
+<rectangle x1="-1.9" y1="-0.475" x2="-1.5" y2="-0.175" layer="51"/>
+<rectangle x1="-1.9" y1="-1.125" x2="-1.5" y2="-0.825" layer="51"/>
+<rectangle x1="-1.9" y1="0.825" x2="-1.5" y2="1.125" layer="51"/>
+<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>
+<symbols>
+<symbol name="L3G4200D">
+<wire x1="-12.7" y1="15.24" x2="-12.7" y2="-12.7" width="0.254" layer="94"/>
+<wire x1="-12.7" y1="-12.7" x2="10.16" y2="-12.7" width="0.254" layer="94"/>
+<wire x1="10.16" y1="-12.7" x2="10.16" y2="15.24" width="0.254" layer="94"/>
+<wire x1="10.16" y1="15.24" x2="-12.7" y2="15.24" width="0.254" layer="94"/>
+<text x="-12.7" y="15.748" size="1.778" layer="95">&gt;Name</text>
+<text x="-12.7" y="-14.986" size="1.778" layer="96">&gt;Value</text>
+<pin name="VDDIO" x="-15.24" y="12.7" length="short"/>
+<pin name="SCL" x="12.7" y="12.7" length="short" rot="R180"/>
+<pin name="SDA/SDI" x="12.7" y="10.16" length="short" rot="R180"/>
+<pin name="SDO" x="12.7" y="7.62" length="short" rot="R180"/>
+<pin name="CS" x="12.7" y="5.08" length="short" rot="R180"/>
+<pin name="INT2" x="12.7" y="0" length="short" rot="R180"/>
+<pin name="INT1" x="12.7" y="-2.54" length="short" rot="R180"/>
+<pin name="RSVDG@0" x="-15.24" y="2.54" length="short"/>
+<pin name="VDD" x="-15.24" y="10.16" length="short"/>
+<pin name="RSVDV@0" x="-15.24" y="7.62" length="short"/>
+<pin name="PLL" x="12.7" y="-7.62" length="short" rot="R180"/>
+<pin name="GND" x="-15.24" y="-10.16" length="short"/>
+<pin name="RSVDG@4" x="-15.24" y="-7.62" length="short"/>
+<pin name="RSDVG@3" x="-15.24" y="-5.08" length="short"/>
+<pin name="RSVDG@2" x="-15.24" y="-2.54" length="short"/>
+<pin name="RSVDG@1" x="-15.24" y="0" length="short"/>
+</symbol>
+<symbol name="MAG3110">
+<wire x1="-10.16" y1="-7.62" x2="10.16" y2="-7.62" width="0.254" layer="94"/>
+<wire x1="10.16" y1="-7.62" x2="10.16" y2="7.62" width="0.254" layer="94"/>
+<wire x1="10.16" y1="7.62" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
+<wire x1="-10.16" y1="7.62" x2="-10.16" y2="-7.62" width="0.254" layer="94"/>
+<text x="-10.16" y="7.62" size="1.778" layer="95">&gt;NAME</text>
+<text x="-10.16" y="-10.16" size="1.778" layer="96">&gt;VALUE</text>
+<pin name="CAP-A" x="-15.24" y="5.08" length="middle"/>
+<pin name="CAP-R" x="-15.24" y="2.54" length="middle"/>
+<pin name="GND@5" x="-15.24" y="-2.54" length="middle"/>
+<pin name="GND@10" x="-15.24" y="-5.08" length="middle"/>
+<pin name="SCL" x="15.24" y="-5.08" length="middle" rot="R180"/>
+<pin name="SDA" x="15.24" y="-2.54" length="middle" rot="R180"/>
+<pin name="INT1" x="15.24" y="0" length="middle" rot="R180"/>
+<pin name="VDDIO" x="15.24" y="2.54" length="middle" rot="R180"/>
+<pin name="VDD" x="15.24" y="5.08" length="middle" rot="R180"/>
+</symbol>
+<symbol name="MMA8452Q">
+<wire x1="-7.62" y1="10.16" x2="-7.62" y2="-10.16" width="0.254" layer="94"/>
+<wire x1="-7.62" y1="-10.16" x2="10.16" y2="-10.16" width="0.254" layer="94"/>
+<wire x1="10.16" y1="-10.16" x2="10.16" y2="10.16" width="0.254" layer="94"/>
+<wire x1="10.16" y1="10.16" x2="-7.62" y2="10.16" width="0.254" layer="94"/>
+<text x="-7.62" y="10.668" size="1.778" layer="95">&gt;Name</text>
+<text x="-7.62" y="-12.446" size="1.778" layer="96">&gt;Value</text>
+<pin name="VDDIO" x="-10.16" y="5.08" length="short"/>
+<pin name="BYP" x="-10.16" y="2.54" length="short"/>
+<pin name="SCL" x="12.7" y="7.62" length="short" rot="R180"/>
+<pin name="GND@0" x="-10.16" y="-7.62" length="short"/>
+<pin name="SDA" x="12.7" y="5.08" length="short" rot="R180"/>
+<pin name="SA0" x="12.7" y="-7.62" length="short" rot="R180"/>
+<pin name="INT2" x="12.7" y="0" length="short" rot="R180"/>
+<pin name="GND@1" x="-10.16" y="-5.08" length="short"/>
+<pin name="INT1" x="12.7" y="-2.54" length="short" rot="R180"/>
+<pin name="GND@2" x="-10.16" y="-2.54" length="short"/>
+<pin name="VDD" x="-10.16" y="7.62" length="short"/>
+</symbol>
+</symbols>
+<devicesets>
+<deviceset name="L3G4200D" prefix="U">
+<description>&lt;h3&gt;L3G4200D Three-axis, digital output gyroscope&lt;/h3&gt;
+The L3G4200D is a low-power three-axis angular rate sensor, has a full scale of ±250/±500/±2000 dps and is capable of measuring rates with a user-selectable bandwidth.&lt;br&gt;&lt;br&gt;
+It includes a sensing element and an IC interface capable of providing the measured angular rate to the external world through a digital interface (I2C/SPI).
+&lt;hr&gt;
+&lt;b&gt;Package:&lt;/b&gt; 4x4x1.1 LGA-16 (LGA16-4x4.PAC)&lt;br&gt;</description>
+<gates>
+<gate name="G$1" symbol="L3G4200D" x="0" y="0"/>
+</gates>
+<devices>
+<device name="" package="LGA16-4X4">
+<connects>
+<connect gate="G$1" pin="CS" pad="5"/>
+<connect gate="G$1" pin="GND" pad="13"/>
+<connect gate="G$1" pin="INT1" pad="7"/>
+<connect gate="G$1" pin="INT2" pad="6"/>
+<connect gate="G$1" pin="PLL" pad="14"/>
+<connect gate="G$1" pin="RSDVG@3" pad="11"/>
+<connect gate="G$1" pin="RSVDG@0" pad="8"/>
+<connect gate="G$1" pin="RSVDG@1" pad="9"/>
+<connect gate="G$1" pin="RSVDG@2" pad="10"/>
+<connect gate="G$1" pin="RSVDG@4" pad="12"/>
+<connect gate="G$1" pin="RSVDV@0" pad="15"/>
+<connect gate="G$1" pin="SCL" pad="2"/>
+<connect gate="G$1" pin="SDA/SDI" pad="3"/>
+<connect gate="G$1" pin="SDO" pad="4"/>
+<connect gate="G$1" pin="VDD" pad="16"/>
+<connect gate="G$1" pin="VDDIO" pad="1"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
+<deviceset name="MAG3110" prefix="U">
+<description>3-axis digital (I2C) magnetometer</description>
+<gates>
+<gate name="G$1" symbol="MAG3110" x="0" y="0"/>
+</gates>
+<devices>
+<device name="" package="DFN-10">
+<connects>
+<connect gate="G$1" pin="CAP-A" pad="1"/>
+<connect gate="G$1" pin="CAP-R" pad="4"/>
+<connect gate="G$1" pin="GND@10" pad="10"/>
+<connect gate="G$1" pin="GND@5" pad="5"/>
+<connect gate="G$1" pin="INT1" pad="9"/>
+<connect gate="G$1" pin="SCL" pad="7"/>
+<connect gate="G$1" pin="SDA" pad="6"/>
+<connect gate="G$1" pin="VDD" pad="2"/>
+<connect gate="G$1" pin="VDDIO" pad="8"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
+<deviceset name="MMA8452Q" prefix="U">
+<description>&lt;h3&gt;MMA8452Q 3-Axis, 12/8-bit Digital Accelerometer&lt;/h3&gt;
+&lt;ul&gt;
+&lt;li&gt;&lt;B&gt;Supply Voltage:&lt;/b&gt; 1.6-3.6V&lt;/li&gt;
+&lt;li&gt;&lt;B&gt;Range:&lt;/b&gt; +/- 2g, 4g, 8g&lt;/li&gt;
+&lt;li&gt;&lt;B&gt;Interface:&lt;/b&gt; I&lt;sup&gt;2&lt;/sup&gt;C, 12-bit and 8-bit&lt;/li&gt;
+&lt;li&gt;&lt;b&gt;ODR:&lt;/b&gt; 1.56 Hz - 800 Hz&lt;/li&gt;
+&lt;li&gt;&lt;B&gt;Package:&lt;/b&gt; QFN-16&lt;/li&gt;
+&lt;/ul&gt;
+&lt;br&gt;
+&lt;br&gt;
+http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf</description>
+<gates>
+<gate name="G$1" symbol="MMA8452Q" x="0" y="0"/>
+</gates>
+<devices>
+<device name="" package="QFN-16_0.5MM">
+<connects>
+<connect gate="G$1" pin="BYP" pad="2"/>
+<connect gate="G$1" pin="GND@0" pad="5"/>
+<connect gate="G$1" pin="GND@1" pad="10"/>
+<connect gate="G$1" pin="GND@2" pad="12"/>
+<connect gate="G$1" pin="INT1" pad="11"/>
+<connect gate="G$1" pin="INT2" pad="9"/>
+<connect gate="G$1" pin="SA0" pad="7"/>
+<connect gate="G$1" pin="SCL" pad="4"/>
+<connect gate="G$1" pin="SDA" pad="6"/>
+<connect gate="G$1" pin="VDD" pad="14"/>
+<connect gate="G$1" pin="VDDIO" pad="1"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
+</devicesets>
+</library>
 </libraries>
 <attributes>
 </attributes>
@@ -19096,9 +19045,6 @@ W = angled&lt;p&gt;
 <part name="U$27" library="kwoo" deviceset="TB6612FNG" device=""/>
 <part name="GND38" library="supply1" deviceset="GND" device=""/>
 <part name="GND39" library="supply1" deviceset="GND" device=""/>
-<part name="+3V13" library="supply1" deviceset="+3V3" device=""/>
-<part name="GND41" library="supply1" deviceset="GND" device=""/>
-<part name="R60" library="resistor" deviceset="R-US_" device="R0603" value="10K"/>
 <part name="U$29" library="SparkFun" deviceset="AVR_SPI_PRG_6" device="PTH"/>
 <part name="A1" library="kwoo" deviceset="ANT-2.4-CHP" device=""/>
 <part name="R69" library="resistor" deviceset="R-US_" device="R0603" value="9.76K"/>
@@ -19154,8 +19100,6 @@ W = angled&lt;p&gt;
 <part name="C133" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
 <part name="C19" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
 <part name="C64" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="C62" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="C20" library="SparkFun" deviceset="CAP" device="0805" value="10uF"/>
 <part name="C136" library="SparkFun" deviceset="CAP" device="0603-CAP" value="1uF"/>
 <part name="C137" library="SparkFun" deviceset="CAP" device="0603-CAP" value="1uF"/>
 <part name="C138" library="SparkFun" deviceset="CAP" device="0603-CAP" value="1uF"/>
@@ -19163,11 +19107,9 @@ W = angled&lt;p&gt;
 <part name="C54" library="SparkFun" deviceset="CAP" device="0603-CAP" value="15pF"/>
 <part name="C55" library="SparkFun" deviceset="CAP" device="0603-CAP" value="15pF"/>
 <part name="C83" library="SparkFun" deviceset="CAP" device="0603-CAP" value="680pF"/>
-<part name="C57" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.01uF"/>
 <part name="C79" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
 <part name="C81" library="SparkFun" deviceset="CAP" device="0603-CAP" value="680pF"/>
 <part name="C82" library="rcl" deviceset="C-EU" device="C0805" value="4.7uF"/>
-<part name="C58" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.47uF"/>
 <part name="R121" library="resistor" deviceset="R-US_" device="R0603" value="10K"/>
 <part name="GND88" library="supply1" deviceset="GND" device=""/>
 <part name="J3" library="kwoo" deviceset="XF2L" device=""/>
@@ -19240,9 +19182,6 @@ W = angled&lt;p&gt;
 <part name="GND4" library="supply1" deviceset="GND" device=""/>
 <part name="U9" library="kwoo" deviceset="TXB0108" device=""/>
 <part name="U10" library="kwoo" deviceset="TXB0108" device=""/>
-<part name="JP2" library="SparkFun" deviceset="M08" device=""/>
-<part name="+3V11" library="supply1" deviceset="+3V3" device=""/>
-<part name="GND5" library="supply1" deviceset="GND" device=""/>
 <part name="S6" library="SparkFun" deviceset="TAC_SWITCH" device="SMD"/>
 <part name="+1.8V3" library="kwoo" deviceset="+1.8V" device=""/>
 <part name="R7" library="resistor" deviceset="R-US_" device="R0603" value="10K"/>
@@ -19408,18 +19347,6 @@ W = angled&lt;p&gt;
 <part name="J16" library="kwoo" deviceset="JST_5" device="VERT"/>
 <part name="U$4" library="kwoo" deviceset="BC817DS" device=""/>
 <part name="U$8" library="kwoo" deviceset="BC817DS" device=""/>
-<part name="U$28" library="kwoo" deviceset="LPY5150AL" device=""/>
-<part name="GND51" library="SparkFun" deviceset="GND" device=""/>
-<part name="R63" library="resistor" deviceset="R-US_" device="R0603" value="33K"/>
-<part name="C4" library="SparkFun" deviceset="CAP" device="0603-CAP" value="2.2uF"/>
-<part name="GND42" library="SparkFun" deviceset="GND" device=""/>
-<part name="R64" library="resistor" deviceset="R-US_" device="R0603" value="33K"/>
-<part name="C7" library="SparkFun" deviceset="CAP" device="0603-CAP" value="2.2uF"/>
-<part name="GND50" library="SparkFun" deviceset="GND" device=""/>
-<part name="R65" library="resistor" deviceset="R-US_" device="R0603" value="1M"/>
-<part name="GND83" library="SparkFun" deviceset="GND" device=""/>
-<part name="R66" library="resistor" deviceset="R-US_" device="R0603" value="1M"/>
-<part name="GND84" library="SparkFun" deviceset="GND" device=""/>
 <part name="U$3" library="kwoo" deviceset="AP1501" device=""/>
 <part name="P+8" library="supply1" deviceset="VCC" device=""/>
 <part name="L3" library="kwoo" deviceset="SRR1260-330MCT-ND" device="" value="47uH"/>
@@ -19446,20 +19373,42 @@ W = angled&lt;p&gt;
 <part name="+3V33" library="supply1" deviceset="+3V3" device=""/>
 <part name="SV2" library="con-lstb" deviceset="MA03-1" device=""/>
 <part name="GND16" library="supply1" deviceset="GND" device=""/>
+<part name="U14" library="SparkFun-Sensors" deviceset="L3G4200D" device=""/>
+<part name="C1" library="SparkFun" deviceset="CAP" device="0603-CAP" value="470nF"/>
+<part name="C21" library="SparkFun" deviceset="CAP" device="0603-CAP" value="10nF"/>
+<part name="R2" library="resistor" deviceset="R-US_" device="R0603" value="10k"/>
+<part name="GND5" library="supply1" deviceset="GND" device=""/>
+<part name="+3V11" library="supply1" deviceset="+3V3" device=""/>
+<part name="GND17" library="supply1" deviceset="GND" device=""/>
+<part name="U15" library="SparkFun-Sensors" deviceset="MAG3110" device=""/>
+<part name="GND29" library="supply1" deviceset="GND" device=""/>
+<part name="C24" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="C25" library="SparkFun" deviceset="CAP" device="0603-CAP" value="1uF"/>
+<part name="C26" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="GND44" library="supply1" deviceset="GND" device=""/>
+<part name="GND72" library="supply1" deviceset="GND" device=""/>
+<part name="GND85" library="supply1" deviceset="GND" device=""/>
+<part name="C27" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="C28" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="GND86" library="supply1" deviceset="GND" device=""/>
+<part name="GND89" library="supply1" deviceset="GND" device=""/>
+<part name="+3V34" library="supply1" deviceset="+3V3" device=""/>
+<part name="U16" library="SparkFun-Sensors" deviceset="MMA8452Q" device=""/>
+<part name="C45" library="SparkFun" deviceset="CAP" device="0603-CAP" value="4.7uF"/>
+<part name="C46" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="C49" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="GND90" library="supply1" deviceset="GND" device=""/>
+<part name="+3V40" library="supply1" deviceset="+3V3" device=""/>
+<part name="GND91" library="supply1" deviceset="GND" device=""/>
+<part name="GND92" library="supply1" deviceset="GND" device=""/>
+<part name="C50" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="GND93" library="supply1" deviceset="GND" device=""/>
+<part name="GND94" library="supply1" deviceset="GND" device=""/>
 </parts>
 <sheets>
 <sheet>
 <plain>
 <text x="-528.32" y="-109.22" size="1.778" layer="97" rot="R180">Decoupling cap combined with other motor driver</text>
-<text x="408.94" y="55.88" size="1.778" layer="97">tie cs to 3.3V to stick in i2c mode</text>
-<text x="419.1" y="48.26" size="1.778" layer="97">!ACCEL_CS</text>
-<text x="419.1" y="45.72" size="1.778" layer="97">ACCEL_INT1</text>
-<text x="419.1" y="43.18" size="1.778" layer="97">ACCEL_INT2</text>
-<text x="419.1" y="40.64" size="1.778" layer="97">ACCEL_MISO</text>
-<text x="419.1" y="38.1" size="1.778" layer="97">ACCEL_MOSI/SDA</text>
-<text x="419.1" y="35.56" size="1.778" layer="97">ACCEL_SCK</text>
-<text x="408.94" y="60.96" size="1.778" layer="97">Accelerometer ADXL345, use Sparkfun breakout board</text>
-<text x="408.94" y="58.42" size="1.778" layer="97">this is a 0,1" header to connect to that board</text>
 <text x="-165.1" y="-76.2" size="1.778" layer="97">!PWR_INT! is an open drain pin</text>
 <text x="-165.1" y="-78.74" size="1.778" layer="97">pulled up to 1.8V so no level</text>
 <text x="-165.1" y="-81.28" size="1.778" layer="97">shifter is needed</text>
@@ -19484,10 +19433,6 @@ W = angled&lt;p&gt;
 <text x="-248.92" y="-111.76" size="1.778" layer="97">Each winding is limited to ~350mA, 700mA for the entire chip</text>
 <text x="-360.68" y="-134.62" size="1.778" layer="97">13us offtime</text>
 <text x="-342.9" y="-60.96" size="1.778" layer="97">Give the option for full or half step only</text>
-<text x="355.6" y="-48.26" size="1.778" layer="97">Pitch LPF</text>
-<text x="373.38" y="-50.8" size="1.778" layer="97">Pitch HPF (optional)</text>
-<text x="337.82" y="-7.62" size="1.778" layer="97">Yaw LPF</text>
-<text x="355.6" y="-10.16" size="1.778" layer="97">Yaw HPF (optional)</text>
 <text x="-335.28" y="139.7" size="1.778" layer="97">3.3V Switching Regulator</text>
 <text x="-383.54" y="96.52" size="1.778" layer="97">5V Switching Regulator</text>
 </plain>
@@ -19507,9 +19452,6 @@ W = angled&lt;p&gt;
 <instance part="U$27" gate="G$1" x="-459.74" y="-93.98" rot="R270"/>
 <instance part="GND38" gate="1" x="-485.14" y="-109.22"/>
 <instance part="GND39" gate="1" x="-436.88" y="-111.76"/>
-<instance part="+3V13" gate="G$1" x="431.8" y="5.08"/>
-<instance part="GND41" gate="1" x="469.9" y="-20.32"/>
-<instance part="R60" gate="G$1" x="383.54" y="12.7" rot="R180"/>
 <instance part="U$29" gate="G$1" x="182.88" y="-25.4" rot="MR0"/>
 <instance part="A1" gate="G$1" x="434.34" y="-58.42"/>
 <instance part="R69" gate="G$1" x="-358.14" y="-68.58" rot="R270"/>
@@ -19569,8 +19511,6 @@ W = angled&lt;p&gt;
 <instance part="C133" gate="G$1" x="-246.38" y="-193.04"/>
 <instance part="C19" gate="G$1" x="-436.88" y="-104.14" rot="R180"/>
 <instance part="C64" gate="G$1" x="233.68" y="-93.98" rot="R90"/>
-<instance part="C62" gate="G$1" x="459.74" y="-7.62"/>
-<instance part="C20" gate="G$1" x="469.9" y="-7.62"/>
 <instance part="C136" gate="G$1" x="279.4" y="-297.18"/>
 <instance part="C137" gate="G$1" x="279.4" y="-261.62"/>
 <instance part="C138" gate="G$1" x="281.94" y="-228.6"/>
@@ -19578,14 +19518,9 @@ W = angled&lt;p&gt;
 <instance part="C54" gate="G$1" x="314.96" y="-93.98" rot="MR0"/>
 <instance part="C55" gate="G$1" x="327.66" y="-93.98" rot="MR0"/>
 <instance part="C83" gate="G$1" x="-353.06" y="-111.76"/>
-<instance part="C57" gate="G$1" x="383.54" y="0" smashed="yes" rot="R270">
-<attribute name="NAME" x="382.524" y="-4.699" size="1.778" layer="95"/>
-<attribute name="VALUE" x="382.524" y="2.921" size="1.778" layer="96"/>
-</instance>
 <instance part="C79" gate="G$1" x="-350.52" y="-68.58"/>
 <instance part="C81" gate="G$1" x="-353.06" y="-127"/>
 <instance part="C82" gate="G$1" x="-264.16" y="-104.14"/>
-<instance part="C58" gate="G$1" x="378.46" y="7.62" rot="R180"/>
 <instance part="R121" gate="G$1" x="335.28" y="-48.26" rot="R180"/>
 <instance part="GND88" gate="1" x="342.9" y="-50.8"/>
 <instance part="J3" gate="G$1" x="406.4" y="-269.24"/>
@@ -19694,9 +19629,6 @@ W = angled&lt;p&gt;
 <instance part="U10" gate="G$7" x="93.98" y="-154.94" rot="R90"/>
 <instance part="U10" gate="G$8" x="101.6" y="-154.94" rot="R90"/>
 <instance part="U10" gate="G$9" x="172.72" y="-157.48"/>
-<instance part="JP2" gate="G$1" x="411.48" y="45.72" rot="R180"/>
-<instance part="+3V11" gate="G$1" x="398.78" y="60.96"/>
-<instance part="GND5" gate="1" x="403.86" y="30.48"/>
 <instance part="S6" gate="S" x="50.8" y="-35.56"/>
 <instance part="+1.8V3" gate="G$1" x="43.18" y="-25.4"/>
 <instance part="R7" gate="G$1" x="43.18" y="-30.48" rot="R90"/>
@@ -19879,21 +19811,6 @@ W = angled&lt;p&gt;
 <instance part="J16" gate="G$1" x="307.34" y="154.94" rot="R90"/>
 <instance part="U$4" gate="G$1" x="264.16" y="83.82"/>
 <instance part="U$8" gate="G$1" x="264.16" y="53.34"/>
-<instance part="U$28" gate="G$1" x="411.48" y="-12.7"/>
-<instance part="GND51" gate="1" x="436.88" y="-35.56"/>
-<instance part="R63" gate="G$1" x="350.52" y="17.78"/>
-<instance part="C4" gate="G$1" x="342.9" y="7.62"/>
-<instance part="GND42" gate="1" x="342.9" y="0"/>
-<instance part="R64" gate="G$1" x="368.3" y="-20.32"/>
-<instance part="C7" gate="G$1" x="358.14" y="-30.48"/>
-<instance part="GND50" gate="1" x="358.14" y="-40.64"/>
-<instance part="R65" gate="G$1" x="378.46" y="-30.48" smashed="yes" rot="R90">
-<attribute name="NAME" x="384.81" y="-26.8986" size="1.778" layer="95" rot="R180"/>
-<attribute name="VALUE" x="384.81" y="-32.258" size="1.778" layer="96" rot="R180"/>
-</instance>
-<instance part="GND83" gate="1" x="378.46" y="-43.18"/>
-<instance part="R66" gate="G$1" x="360.68" y="7.62" rot="R90"/>
-<instance part="GND84" gate="1" x="360.68" y="-5.08"/>
 <instance part="U$3" gate="G$1" x="-375.92" y="83.82"/>
 <instance part="P+8" gate="VCC" x="-406.4" y="93.98"/>
 <instance part="L3" gate="G$1" x="-340.36" y="88.9"/>
@@ -19920,6 +19837,37 @@ W = angled&lt;p&gt;
 <instance part="+3V33" gate="G$1" x="-464.82" y="175.26"/>
 <instance part="SV2" gate="G$1" x="449.58" y="-342.9" rot="R180"/>
 <instance part="GND16" gate="1" x="431.8" y="-335.28" rot="R180"/>
+<instance part="U14" gate="G$1" x="424.18" y="96.52"/>
+<instance part="C1" gate="G$1" x="454.66" y="88.9" rot="R90"/>
+<instance part="C21" gate="G$1" x="447.04" y="83.82" rot="R180"/>
+<instance part="R2" gate="G$1" x="464.82" y="83.82" rot="R90"/>
+<instance part="GND5" gate="1" x="474.98" y="76.2" rot="R90"/>
+<instance part="+3V11" gate="G$1" x="403.86" y="114.3"/>
+<instance part="GND17" gate="1" x="467.36" y="104.14" rot="R90"/>
+<instance part="U15" gate="G$1" x="421.64" y="139.7"/>
+<instance part="GND29" gate="1" x="403.86" y="127"/>
+<instance part="C24" gate="G$1" x="464.82" y="139.7" rot="R180"/>
+<instance part="C25" gate="G$1" x="441.96" y="152.4" rot="R180"/>
+<instance part="C26" gate="G$1" x="457.2" y="152.4" rot="R180"/>
+<instance part="GND44" gate="1" x="464.82" y="129.54"/>
+<instance part="GND72" gate="1" x="457.2" y="162.56" rot="R180"/>
+<instance part="GND85" gate="1" x="441.96" y="162.56" rot="R180"/>
+<instance part="C27" gate="G$1" x="398.78" y="154.94" rot="R180"/>
+<instance part="C28" gate="G$1" x="393.7" y="142.24" rot="R270"/>
+<instance part="GND86" gate="1" x="386.08" y="142.24" rot="R270"/>
+<instance part="GND89" gate="1" x="398.78" y="162.56" rot="R180"/>
+<instance part="+3V34" gate="G$1" x="472.44" y="147.32" rot="R270"/>
+<instance part="U16" gate="G$1" x="419.1" y="50.8"/>
+<instance part="C45" gate="G$1" x="401.32" y="63.5" rot="R180"/>
+<instance part="C46" gate="G$1" x="391.16" y="63.5" rot="R180"/>
+<instance part="C49" gate="G$1" x="381" y="63.5" rot="R180"/>
+<instance part="GND90" gate="1" x="391.16" y="73.66" rot="R180"/>
+<instance part="+3V40" gate="G$1" x="406.4" y="71.12"/>
+<instance part="GND91" gate="1" x="396.24" y="35.56"/>
+<instance part="GND92" gate="1" x="444.5" y="38.1"/>
+<instance part="C50" gate="G$1" x="393.7" y="106.68" rot="R90"/>
+<instance part="GND93" gate="1" x="386.08" y="99.06"/>
+<instance part="GND94" gate="1" x="401.32" y="81.28"/>
 </instances>
 <busses>
 </busses>
@@ -20199,12 +20147,6 @@ W = angled&lt;p&gt;
 <pinref part="R24" gate="G$1" pin="1"/>
 </segment>
 <segment>
-<wire x1="406.4" y1="53.34" x2="403.86" y2="53.34" width="0.1524" layer="91"/>
-<wire x1="403.86" y1="53.34" x2="403.86" y2="33.02" width="0.1524" layer="91"/>
-<pinref part="JP2" gate="G$1" pin="1"/>
-<pinref part="GND5" gate="1" pin="GND"/>
-</segment>
-<segment>
 <wire x1="55.88" y1="-35.56" x2="58.42" y2="-35.56" width="0.1524" layer="91"/>
 <wire x1="58.42" y1="-35.56" x2="58.42" y2="-38.1" width="0.1524" layer="91"/>
 <wire x1="58.42" y1="-38.1" x2="55.88" y2="-38.1" width="0.1524" layer="91"/>
@@ -20540,56 +20482,6 @@ W = angled&lt;p&gt;
 <pinref part="GND46" gate="1" pin="GND"/>
 </segment>
 <segment>
-<wire x1="469.9" y1="-12.7" x2="469.9" y2="-17.78" width="0.1524" layer="91"/>
-<wire x1="469.9" y1="-12.7" x2="469.9" y2="-10.16" width="0.1524" layer="91"/>
-<wire x1="459.74" y1="-12.7" x2="469.9" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="459.74" y1="-10.16" x2="459.74" y2="-12.7" width="0.1524" layer="91"/>
-<junction x="469.9" y="-12.7"/>
-<pinref part="GND41" gate="1" pin="GND"/>
-<pinref part="C20" gate="G$1" pin="2"/>
-<pinref part="C62" gate="G$1" pin="2"/>
-</segment>
-<segment>
-<wire x1="393.7" y1="-2.54" x2="391.16" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="391.16" y1="-2.54" x2="391.16" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="391.16" y1="-12.7" x2="391.16" y2="-17.78" width="0.1524" layer="91"/>
-<wire x1="391.16" y1="-17.78" x2="391.16" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="391.16" y1="-30.48" x2="436.88" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="436.88" y1="-30.48" x2="436.88" y2="-33.02" width="0.1524" layer="91"/>
-<wire x1="429.26" y1="-20.32" x2="436.88" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="436.88" y1="-20.32" x2="436.88" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="393.7" y1="-12.7" x2="391.16" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="393.7" y1="-17.78" x2="391.16" y2="-17.78" width="0.1524" layer="91"/>
-<junction x="391.16" y="-12.7"/>
-<junction x="391.16" y="-17.78"/>
-<junction x="436.88" y="-30.48"/>
-<pinref part="U$28" gate="G$1" pin="GND"/>
-<pinref part="GND51" gate="1" pin="GND"/>
-<pinref part="U$28" gate="G$1" pin="4INZ"/>
-<pinref part="U$28" gate="G$1" pin="4INX"/>
-<pinref part="U$28" gate="G$1" pin="VREF"/>
-</segment>
-<segment>
-<wire x1="342.9" y1="5.08" x2="342.9" y2="2.54" width="0.1524" layer="91"/>
-<pinref part="C4" gate="G$1" pin="2"/>
-<pinref part="GND42" gate="1" pin="GND"/>
-</segment>
-<segment>
-<wire x1="358.14" y1="-38.1" x2="358.14" y2="-33.02" width="0.1524" layer="91"/>
-<pinref part="GND50" gate="1" pin="GND"/>
-<pinref part="C7" gate="G$1" pin="2"/>
-</segment>
-<segment>
-<wire x1="378.46" y1="-35.56" x2="378.46" y2="-40.64" width="0.1524" layer="91"/>
-<pinref part="R65" gate="G$1" pin="1"/>
-<pinref part="GND83" gate="1" pin="GND"/>
-</segment>
-<segment>
-<wire x1="360.68" y1="2.54" x2="360.68" y2="-2.54" width="0.1524" layer="91"/>
-<pinref part="R66" gate="G$1" pin="1"/>
-<pinref part="GND84" gate="1" pin="GND"/>
-</segment>
-<segment>
 <wire x1="-477.52" y1="40.64" x2="-485.14" y2="40.64" width="0.1524" layer="91"/>
 <wire x1="-485.14" y1="40.64" x2="-492.76" y2="40.64" width="0.1524" layer="91"/>
 <wire x1="-492.76" y1="40.64" x2="-492.76" y2="43.18" width="0.1524" layer="91"/>
@@ -20677,6 +20569,121 @@ W = angled&lt;p&gt;
 <wire x1="431.8" y1="-340.36" x2="431.8" y2="-337.82" width="0.1524" layer="91"/>
 <pinref part="GND16" gate="1" pin="GND"/>
 </segment>
+<segment>
+<pinref part="C21" gate="G$1" pin="1"/>
+<wire x1="447.04" y1="78.74" x2="447.04" y2="76.2" width="0.1524" layer="91"/>
+<wire x1="447.04" y1="76.2" x2="464.82" y2="76.2" width="0.1524" layer="91"/>
+<pinref part="R2" gate="G$1" pin="1"/>
+<wire x1="464.82" y1="76.2" x2="464.82" y2="78.74" width="0.1524" layer="91"/>
+<wire x1="464.82" y1="76.2" x2="472.44" y2="76.2" width="0.1524" layer="91"/>
+<junction x="464.82" y="76.2"/>
+<pinref part="GND5" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U14" gate="G$1" pin="SDO"/>
+<wire x1="436.88" y1="104.14" x2="464.82" y2="104.14" width="0.1524" layer="91"/>
+<pinref part="GND17" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U15" gate="G$1" pin="GND@5"/>
+<wire x1="406.4" y1="137.16" x2="403.86" y2="137.16" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="137.16" x2="403.86" y2="134.62" width="0.1524" layer="91"/>
+<pinref part="U15" gate="G$1" pin="GND@10"/>
+<wire x1="406.4" y1="134.62" x2="403.86" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="134.62" x2="403.86" y2="129.54" width="0.1524" layer="91"/>
+<junction x="403.86" y="134.62"/>
+<pinref part="GND29" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="C25" gate="G$1" pin="2"/>
+<pinref part="GND85" gate="1" pin="GND"/>
+<wire x1="441.96" y1="154.94" x2="441.96" y2="160.02" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="C26" gate="G$1" pin="2"/>
+<pinref part="GND72" gate="1" pin="GND"/>
+<wire x1="457.2" y1="154.94" x2="457.2" y2="160.02" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="C24" gate="G$1" pin="1"/>
+<pinref part="GND44" gate="1" pin="GND"/>
+<wire x1="464.82" y1="134.62" x2="464.82" y2="132.08" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="C28" gate="G$1" pin="2"/>
+<wire x1="391.16" y1="142.24" x2="388.62" y2="142.24" width="0.1524" layer="91"/>
+<pinref part="GND86" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="C27" gate="G$1" pin="2"/>
+<wire x1="398.78" y1="157.48" x2="398.78" y2="160.02" width="0.1524" layer="91"/>
+<pinref part="GND89" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="C45" gate="G$1" pin="2"/>
+<wire x1="401.32" y1="66.04" x2="401.32" y2="68.58" width="0.1524" layer="91"/>
+<pinref part="C46" gate="G$1" pin="2"/>
+<wire x1="401.32" y1="68.58" x2="391.16" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="391.16" y1="68.58" x2="391.16" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="391.16" y1="68.58" x2="381" y2="68.58" width="0.1524" layer="91"/>
+<junction x="391.16" y="68.58"/>
+<pinref part="C49" gate="G$1" pin="2"/>
+<wire x1="381" y1="68.58" x2="381" y2="66.04" width="0.1524" layer="91"/>
+<pinref part="GND90" gate="1" pin="GND"/>
+<wire x1="391.16" y1="68.58" x2="391.16" y2="71.12" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="U16" gate="G$1" pin="GND@2"/>
+<wire x1="408.94" y1="48.26" x2="396.24" y2="48.26" width="0.1524" layer="91"/>
+<wire x1="396.24" y1="48.26" x2="396.24" y2="45.72" width="0.1524" layer="91"/>
+<pinref part="U16" gate="G$1" pin="GND@1"/>
+<wire x1="396.24" y1="45.72" x2="396.24" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="396.24" y1="43.18" x2="396.24" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="408.94" y1="45.72" x2="396.24" y2="45.72" width="0.1524" layer="91"/>
+<junction x="396.24" y="45.72"/>
+<pinref part="U16" gate="G$1" pin="GND@0"/>
+<wire x1="408.94" y1="43.18" x2="396.24" y2="43.18" width="0.1524" layer="91"/>
+<junction x="396.24" y="43.18"/>
+<pinref part="GND91" gate="1" pin="GND"/>
+</segment>
+<segment>
+<wire x1="431.8" y1="43.18" x2="444.5" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="444.5" y1="43.18" x2="444.5" y2="40.64" width="0.1524" layer="91"/>
+<pinref part="U16" gate="G$1" pin="SA0"/>
+<pinref part="GND92" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="C50" gate="G$1" pin="1"/>
+<wire x1="388.62" y1="106.68" x2="386.08" y2="106.68" width="0.1524" layer="91"/>
+<wire x1="386.08" y1="106.68" x2="386.08" y2="101.6" width="0.1524" layer="91"/>
+<pinref part="GND93" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U14" gate="G$1" pin="RSVDG@0"/>
+<wire x1="408.94" y1="99.06" x2="401.32" y2="99.06" width="0.1524" layer="91"/>
+<wire x1="401.32" y1="99.06" x2="401.32" y2="96.52" width="0.1524" layer="91"/>
+<pinref part="U14" gate="G$1" pin="GND"/>
+<wire x1="401.32" y1="96.52" x2="401.32" y2="93.98" width="0.1524" layer="91"/>
+<wire x1="401.32" y1="93.98" x2="401.32" y2="91.44" width="0.1524" layer="91"/>
+<wire x1="401.32" y1="91.44" x2="401.32" y2="88.9" width="0.1524" layer="91"/>
+<wire x1="401.32" y1="88.9" x2="401.32" y2="86.36" width="0.1524" layer="91"/>
+<wire x1="401.32" y1="86.36" x2="401.32" y2="83.82" width="0.1524" layer="91"/>
+<wire x1="408.94" y1="86.36" x2="401.32" y2="86.36" width="0.1524" layer="91"/>
+<junction x="401.32" y="86.36"/>
+<pinref part="U14" gate="G$1" pin="RSVDG@4"/>
+<wire x1="408.94" y1="88.9" x2="401.32" y2="88.9" width="0.1524" layer="91"/>
+<junction x="401.32" y="88.9"/>
+<pinref part="U14" gate="G$1" pin="RSDVG@3"/>
+<wire x1="408.94" y1="91.44" x2="401.32" y2="91.44" width="0.1524" layer="91"/>
+<junction x="401.32" y="91.44"/>
+<pinref part="U14" gate="G$1" pin="RSVDG@2"/>
+<wire x1="408.94" y1="93.98" x2="401.32" y2="93.98" width="0.1524" layer="91"/>
+<junction x="401.32" y="93.98"/>
+<pinref part="U14" gate="G$1" pin="RSVDG@1"/>
+<wire x1="408.94" y1="96.52" x2="401.32" y2="96.52" width="0.1524" layer="91"/>
+<junction x="401.32" y="96.52"/>
+<pinref part="GND94" gate="1" pin="GND"/>
+</segment>
 </net>
 <net name="!PWR_KILL" class="0">
 <segment>
@@ -20924,36 +20931,6 @@ W = angled&lt;p&gt;
 <pinref part="P+12" gate="VCC" pin="VCC"/>
 </segment>
 </net>
-<net name="N$182" class="0">
-<segment>
-<wire x1="388.62" y1="0" x2="388.62" y2="12.7" width="0.1524" layer="91"/>
-<wire x1="393.7" y1="-5.08" x2="388.62" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="388.62" y1="-5.08" x2="388.62" y2="0" width="0.1524" layer="91"/>
-<junction x="388.62" y="0"/>
-<pinref part="R60" gate="G$1" pin="1"/>
-<pinref part="C57" gate="G$1" pin="1"/>
-<pinref part="U$28" gate="G$1" pin="FILTVDD"/>
-</segment>
-</net>
-<net name="N$183" class="0">
-<segment>
-<wire x1="378.46" y1="12.7" x2="378.46" y2="10.16" width="0.1524" layer="91"/>
-<pinref part="R60" gate="G$1" pin="2"/>
-<pinref part="C58" gate="G$1" pin="2"/>
-</segment>
-</net>
-<net name="N$185" class="0">
-<segment>
-<wire x1="378.46" y1="2.54" x2="378.46" y2="0" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="0" x2="381" y2="0" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="0" x2="378.46" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="-7.62" x2="393.7" y2="-7.62" width="0.1524" layer="91"/>
-<junction x="378.46" y="0"/>
-<pinref part="C57" gate="G$1" pin="2"/>
-<pinref part="C58" gate="G$1" pin="1"/>
-<pinref part="U$28" gate="G$1" pin="VCONT"/>
-</segment>
-</net>
 <net name="MOTOR0+" class="0">
 <segment>
 <wire x1="-518.16" y1="-119.38" x2="-518.16" y2="-121.92" width="0.1524" layer="91"/>
@@ -21090,20 +21067,6 @@ W = angled&lt;p&gt;
 <pinref part="SV1" gate="G$1" pin="7"/>
 </segment>
 </net>
-<net name="GYRO_OUT_YAW_FILT" class="0">
-<segment>
-<wire x1="342.9" y1="17.78" x2="345.44" y2="17.78" width="0.1524" layer="91"/>
-<wire x1="342.9" y1="17.78" x2="342.9" y2="12.7" width="0.1524" layer="91"/>
-<wire x1="302.26" y1="-22.86" x2="327.66" y2="-22.86" width="0.1524" layer="91"/>
-<wire x1="327.66" y1="-22.86" x2="327.66" y2="17.78" width="0.1524" layer="91"/>
-<wire x1="327.66" y1="17.78" x2="342.9" y2="17.78" width="0.1524" layer="91"/>
-<junction x="342.9" y="17.78"/>
-<label x="304.8" y="-22.86" size="1.778" layer="95"/>
-<pinref part="R63" gate="G$1" pin="1"/>
-<pinref part="C4" gate="G$1" pin="1"/>
-<pinref part="U1" gate="G$1" pin="PF0/ADC0"/>
-</segment>
-</net>
 <net name="AVR_SCK" class="0">
 <segment>
 <wire x1="238.76" y1="-25.4" x2="231.14" y2="-25.4" width="0.1524" layer="91"/>
@@ -21417,9 +21380,16 @@ W = angled&lt;p&gt;
 <pinref part="U$1" gate="G$1" pin="SCL2"/>
 </segment>
 <segment>
-<wire x1="406.4" y1="35.56" x2="383.54" y2="35.56" width="0.1524" layer="91"/>
-<label x="383.54" y="35.56" size="1.778" layer="95"/>
-<pinref part="JP2" gate="G$1" pin="8"/>
+<label x="434.34" y="58.42" size="1.778" layer="95"/>
+<wire x1="452.12" y1="58.42" x2="431.8" y2="58.42" width="0.1524" layer="91"/>
+<label x="436.88" y="109.22" size="1.778" layer="95"/>
+<wire x1="459.74" y1="109.22" x2="436.88" y2="109.22" width="0.1524" layer="91"/>
+<pinref part="U16" gate="G$1" pin="SCL"/>
+</segment>
+<segment>
+<pinref part="U15" gate="G$1" pin="SCL"/>
+<wire x1="436.88" y1="134.62" x2="454.66" y2="134.62" width="0.1524" layer="91"/>
+<label x="436.88" y="134.62" size="1.778" layer="95"/>
 </segment>
 </net>
 <net name="I2C_SDA_3.3V" class="0">
@@ -21434,9 +21404,16 @@ W = angled&lt;p&gt;
 <pinref part="U$1" gate="G$1" pin="SDA2"/>
 </segment>
 <segment>
-<wire x1="406.4" y1="38.1" x2="383.54" y2="38.1" width="0.1524" layer="91"/>
-<label x="383.54" y="38.1" size="1.778" layer="95"/>
-<pinref part="JP2" gate="G$1" pin="7"/>
+<label x="434.34" y="55.88" size="1.778" layer="95"/>
+<wire x1="452.12" y1="55.88" x2="431.8" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="436.88" y1="106.68" x2="459.74" y2="106.68" width="0.1524" layer="91"/>
+<label x="436.88" y="106.68" size="1.778" layer="95"/>
+<pinref part="U16" gate="G$1" pin="SDA"/>
+</segment>
+<segment>
+<pinref part="U15" gate="G$1" pin="SDA"/>
+<wire x1="436.88" y1="137.16" x2="454.66" y2="137.16" width="0.1524" layer="91"/>
+<label x="436.88" y="137.16" size="1.778" layer="95"/>
 </segment>
 </net>
 <net name="I2C_SDA_5V" class="0">
@@ -21724,11 +21701,6 @@ W = angled&lt;p&gt;
 </net>
 <net name="GYRO_PD" class="0">
 <segment>
-<wire x1="441.96" y1="-12.7" x2="429.26" y2="-12.7" width="0.1524" layer="91"/>
-<label x="431.8" y="-12.7" size="1.778" layer="95"/>
-<pinref part="U$28" gate="G$1" pin="PD"/>
-</segment>
-<segment>
 <wire x1="210.82" y1="-55.88" x2="238.76" y2="-55.88" width="0.1524" layer="91"/>
 <label x="210.82" y="-55.88" size="1.778" layer="95"/>
 <pinref part="U1" gate="G$1" pin="PD4/ICP1"/>
@@ -21736,11 +21708,6 @@ W = angled&lt;p&gt;
 </net>
 <net name="GYRO_ST" class="0">
 <segment>
-<wire x1="441.96" y1="-15.24" x2="429.26" y2="-15.24" width="0.1524" layer="91"/>
-<label x="431.8" y="-15.24" size="1.778" layer="95"/>
-<pinref part="U$28" gate="G$1" pin="ST"/>
-</segment>
-<segment>
 <wire x1="210.82" y1="-58.42" x2="238.76" y2="-58.42" width="0.1524" layer="91"/>
 <label x="210.82" y="-58.42" size="1.778" layer="95"/>
 <pinref part="U1" gate="G$1" pin="PD5/XCK1"/>
@@ -21878,16 +21845,6 @@ W = angled&lt;p&gt;
 <pinref part="C6" gate="G$1" pin="1"/>
 </segment>
 <segment>
-<wire x1="406.4" y1="50.8" x2="398.78" y2="50.8" width="0.1524" layer="91"/>
-<wire x1="398.78" y1="50.8" x2="398.78" y2="58.42" width="0.1524" layer="91"/>
-<wire x1="406.4" y1="48.26" x2="398.78" y2="48.26" width="0.1524" layer="91"/>
-<wire x1="398.78" y1="48.26" x2="398.78" y2="50.8" width="0.1524" layer="91"/>
-<junction x="398.78" y="50.8"/>
-<pinref part="JP2" gate="G$1" pin="2"/>
-<pinref part="+3V11" gate="G$1" pin="+3V3"/>
-<pinref part="JP2" gate="G$1" pin="3"/>
-</segment>
-<segment>
 <wire x1="213.36" y1="-99.06" x2="205.74" y2="-99.06" width="0.1524" layer="91"/>
 <wire x1="205.74" y1="-99.06" x2="198.12" y2="-99.06" width="0.1524" layer="91"/>
 <wire x1="198.12" y1="-99.06" x2="190.5" y2="-99.06" width="0.1524" layer="91"/>
@@ -22034,25 +21991,6 @@ W = angled&lt;p&gt;
 <pinref part="+3V10" gate="G$1" pin="+3V3"/>
 </segment>
 <segment>
-<wire x1="429.26" y1="-5.08" x2="431.8" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="431.8" y1="-5.08" x2="431.8" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="431.8" y1="-2.54" x2="429.26" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="431.8" y1="-2.54" x2="431.8" y2="2.54" width="0.1524" layer="91"/>
-<wire x1="429.26" y1="-7.62" x2="431.8" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="431.8" y1="-7.62" x2="431.8" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="431.8" y1="-2.54" x2="459.74" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="459.74" y1="-2.54" x2="469.9" y2="-2.54" width="0.1524" layer="91"/>
-<junction x="431.8" y="-2.54"/>
-<junction x="431.8" y="-5.08"/>
-<junction x="459.74" y="-2.54"/>
-<pinref part="+3V13" gate="G$1" pin="+3V3"/>
-<pinref part="C62" gate="G$1" pin="1"/>
-<pinref part="C20" gate="G$1" pin="1"/>
-<pinref part="U$28" gate="G$1" pin="VDD@1"/>
-<pinref part="U$28" gate="G$1" pin="VDD@2"/>
-<pinref part="U$28" gate="G$1" pin="VDD@3"/>
-</segment>
-<segment>
 <wire x1="101.6" y1="-223.52" x2="124.46" y2="-223.52" width="0.1524" layer="91"/>
 <wire x1="124.46" y1="-223.52" x2="144.78" y2="-223.52" width="0.1524" layer="91"/>
 <wire x1="144.78" y1="-228.6" x2="144.78" y2="-223.52" width="0.1524" layer="91"/>
@@ -22200,6 +22138,60 @@ W = angled&lt;p&gt;
 <pinref part="R58" gate="G$1" pin="1"/>
 <pinref part="+3V33" gate="G$1" pin="+3V3"/>
 </segment>
+<segment>
+<pinref part="+3V11" gate="G$1" pin="+3V3"/>
+<wire x1="403.86" y1="111.76" x2="403.86" y2="109.22" width="0.1524" layer="91"/>
+<pinref part="U14" gate="G$1" pin="RSVDV@0"/>
+<wire x1="403.86" y1="109.22" x2="403.86" y2="106.68" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="106.68" x2="403.86" y2="104.14" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="104.14" x2="408.94" y2="104.14" width="0.1524" layer="91"/>
+<pinref part="U14" gate="G$1" pin="VDDIO"/>
+<wire x1="408.94" y1="109.22" x2="403.86" y2="109.22" width="0.1524" layer="91"/>
+<junction x="403.86" y="109.22"/>
+<pinref part="U14" gate="G$1" pin="VDD"/>
+<wire x1="408.94" y1="106.68" x2="403.86" y2="106.68" width="0.1524" layer="91"/>
+<junction x="403.86" y="106.68"/>
+<pinref part="C50" gate="G$1" pin="2"/>
+<wire x1="403.86" y1="106.68" x2="396.24" y2="106.68" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="U15" gate="G$1" pin="VDDIO"/>
+<wire x1="464.82" y1="142.24" x2="436.88" y2="142.24" width="0.1524" layer="91"/>
+<wire x1="439.42" y1="147.32" x2="441.96" y2="147.32" width="0.1524" layer="91"/>
+<wire x1="441.96" y1="147.32" x2="457.2" y2="147.32" width="0.1524" layer="91"/>
+<wire x1="439.42" y1="144.78" x2="439.42" y2="147.32" width="0.1524" layer="91"/>
+<pinref part="U15" gate="G$1" pin="VDD"/>
+<wire x1="436.88" y1="144.78" x2="439.42" y2="144.78" width="0.1524" layer="91"/>
+<pinref part="C25" gate="G$1" pin="1"/>
+<junction x="441.96" y="147.32"/>
+<pinref part="C26" gate="G$1" pin="1"/>
+<wire x1="457.2" y1="147.32" x2="464.82" y2="147.32" width="0.1524" layer="91"/>
+<junction x="457.2" y="147.32"/>
+<wire x1="464.82" y1="142.24" x2="464.82" y2="147.32" width="0.1524" layer="91"/>
+<wire x1="464.82" y1="147.32" x2="469.9" y2="147.32" width="0.1524" layer="91"/>
+<junction x="464.82" y="147.32"/>
+<pinref part="C24" gate="G$1" pin="2"/>
+<junction x="464.82" y="142.24"/>
+<pinref part="+3V34" gate="G$1" pin="+3V3"/>
+</segment>
+<segment>
+<pinref part="U16" gate="G$1" pin="VDDIO"/>
+<pinref part="C46" gate="G$1" pin="1"/>
+<wire x1="408.94" y1="55.88" x2="403.86" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="55.88" x2="391.16" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="391.16" y1="55.88" x2="391.16" y2="58.42" width="0.1524" layer="91"/>
+<pinref part="U16" gate="G$1" pin="VDD"/>
+<pinref part="C45" gate="G$1" pin="1"/>
+<wire x1="408.94" y1="58.42" x2="403.86" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="58.42" x2="401.32" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="403.86" y1="55.88" x2="403.86" y2="58.42" width="0.1524" layer="91"/>
+<junction x="403.86" y="55.88"/>
+<junction x="403.86" y="58.42"/>
+<wire x1="403.86" y1="58.42" x2="403.86" y2="60.96" width="0.1524" layer="91"/>
+<pinref part="+3V40" gate="G$1" pin="+3V3"/>
+<wire x1="403.86" y1="60.96" x2="406.4" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="406.4" y1="60.96" x2="406.4" y2="68.58" width="0.1524" layer="91"/>
+</segment>
 </net>
 <net name="DEBUG_TX_1.8V" class="0">
 <segment>
@@ -24016,46 +24008,6 @@ W = angled&lt;p&gt;
 <pinref part="R13" gate="G$1" pin="1"/>
 </segment>
 </net>
-<net name="GYRO_OUT_PITCH" class="0">
-<segment>
-<wire x1="378.46" y1="-20.32" x2="373.38" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="-20.32" x2="378.46" y2="-25.4" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="-20.32" x2="386.08" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="386.08" y1="-20.32" x2="386.08" y2="-10.16" width="0.1524" layer="91"/>
-<wire x1="386.08" y1="-10.16" x2="393.7" y2="-10.16" width="0.1524" layer="91"/>
-<junction x="378.46" y="-20.32"/>
-<pinref part="R64" gate="G$1" pin="2"/>
-<pinref part="R65" gate="G$1" pin="2"/>
-<pinref part="U$28" gate="G$1" pin="OUTX"/>
-</segment>
-</net>
-<net name="GYRO_OUT_PITCH_FILT" class="0">
-<segment>
-<wire x1="363.22" y1="-20.32" x2="358.14" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="358.14" y1="-20.32" x2="350.52" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="350.52" y1="-20.32" x2="350.52" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="350.52" y1="-30.48" x2="302.26" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="358.14" y1="-25.4" x2="358.14" y2="-20.32" width="0.1524" layer="91"/>
-<junction x="358.14" y="-20.32"/>
-<label x="304.8" y="-30.48" size="1.778" layer="95"/>
-<pinref part="R64" gate="G$1" pin="1"/>
-<pinref part="U1" gate="G$1" pin="PF3/ADC3/DIG4"/>
-<pinref part="C7" gate="G$1" pin="1"/>
-</segment>
-</net>
-<net name="GYRO_OUT_YAW" class="0">
-<segment>
-<wire x1="360.68" y1="17.78" x2="360.68" y2="12.7" width="0.1524" layer="91"/>
-<wire x1="444.5" y1="-17.78" x2="429.26" y2="-17.78" width="0.1524" layer="91"/>
-<wire x1="355.6" y1="17.78" x2="360.68" y2="17.78" width="0.1524" layer="91"/>
-<wire x1="360.68" y1="17.78" x2="444.5" y2="17.78" width="0.1524" layer="91"/>
-<wire x1="444.5" y1="17.78" x2="444.5" y2="-17.78" width="0.1524" layer="91"/>
-<junction x="360.68" y="17.78"/>
-<pinref part="R66" gate="G$1" pin="2"/>
-<pinref part="U$28" gate="G$1" pin="OUTZ"/>
-<pinref part="R63" gate="G$1" pin="2"/>
-</segment>
-</net>
 <net name="N$15" class="0">
 <segment>
 <wire x1="-358.14" y1="88.9" x2="-355.6" y2="88.9" width="0.1524" layer="91"/>
@@ -24146,6 +24098,82 @@ W = angled&lt;p&gt;
 <label x="165.1" y="-175.26" size="1.778" layer="95"/>
 </segment>
 </net>
+<net name="N$38" class="0">
+<segment>
+<pinref part="U14" gate="G$1" pin="PLL"/>
+<pinref part="C1" gate="G$1" pin="1"/>
+<wire x1="436.88" y1="88.9" x2="447.04" y2="88.9" width="0.1524" layer="91"/>
+<pinref part="C21" gate="G$1" pin="2"/>
+<wire x1="447.04" y1="88.9" x2="449.58" y2="88.9" width="0.1524" layer="91"/>
+<wire x1="447.04" y1="88.9" x2="447.04" y2="86.36" width="0.1524" layer="91"/>
+<junction x="447.04" y="88.9"/>
+</segment>
+</net>
+<net name="N$39" class="0">
+<segment>
+<pinref part="C1" gate="G$1" pin="2"/>
+<pinref part="R2" gate="G$1" pin="2"/>
+<wire x1="457.2" y1="88.9" x2="464.82" y2="88.9" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="MAG_INT" class="0">
+<segment>
+<pinref part="U15" gate="G$1" pin="INT1"/>
+<wire x1="436.88" y1="139.7" x2="454.66" y2="139.7" width="0.1524" layer="91"/>
+<label x="448.056" y="141.478" size="1.778" layer="95" rot="R180"/>
+</segment>
+</net>
+<net name="N$53" class="0">
+<segment>
+<pinref part="U15" gate="G$1" pin="CAP-A"/>
+<wire x1="406.4" y1="144.78" x2="398.78" y2="144.78" width="0.1524" layer="91"/>
+<wire x1="398.78" y1="144.78" x2="398.78" y2="149.86" width="0.1524" layer="91"/>
+<pinref part="C27" gate="G$1" pin="1"/>
+</segment>
+</net>
+<net name="N$54" class="0">
+<segment>
+<pinref part="U15" gate="G$1" pin="CAP-R"/>
+<wire x1="406.4" y1="142.24" x2="398.78" y2="142.24" width="0.1524" layer="91"/>
+<pinref part="C28" gate="G$1" pin="1"/>
+</segment>
+</net>
+<net name="N$50" class="0">
+<segment>
+<pinref part="U16" gate="G$1" pin="BYP"/>
+<pinref part="C49" gate="G$1" pin="1"/>
+<wire x1="408.94" y1="53.34" x2="381" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="381" y1="53.34" x2="381" y2="58.42" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="GYRO_INT_2" class="0">
+<segment>
+<pinref part="U14" gate="G$1" pin="INT2"/>
+<wire x1="436.88" y1="96.52" x2="452.12" y2="96.52" width="0.1524" layer="91"/>
+<label x="436.88" y="96.52" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="GYRO_INT_1" class="0">
+<segment>
+<pinref part="U14" gate="G$1" pin="INT1"/>
+<wire x1="436.88" y1="93.98" x2="452.12" y2="93.98" width="0.1524" layer="91"/>
+<label x="436.88" y="93.98" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="ACC_INT_2" class="0">
+<segment>
+<pinref part="U16" gate="G$1" pin="INT2"/>
+<wire x1="431.8" y1="50.8" x2="447.04" y2="50.8" width="0.1524" layer="91"/>
+<label x="434.34" y="50.8" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="ACC_INT_1" class="0">
+<segment>
+<pinref part="U16" gate="G$1" pin="INT1"/>
+<wire x1="431.8" y1="48.26" x2="447.04" y2="48.26" width="0.1524" layer="91"/>
+<label x="434.34" y="48.26" size="1.778" layer="95"/>
+</segment>
+</net>
 </nets>
 </sheet>
 </sheets>
