IMPORTANT NOTICE!!! Currently IT3200 and BMA180 doesn't supported!!! Only MPU6050 supported!
Follow instructions at: http://www.megapirateng.com/compile-mpng-sources/
Serial ports: Serial0 (RX0,TX0) - USB, OSD (Minim OSD) or Telemetry (3DR, Xbee, Bluetooth) Serial1 (RX1,TX1) - OSD which not compatible with Mavlink (Remzibi, E-OSD, FrSky) Serial2 (RX2,TX2) - GPS Serial3 (RX3,TX3) - OSD (Minim OSD) or Telemetry (3DR, Xbee, Bluetooth)
Currently sonar is not supported
Look motor mapping at: http://code.google.com/p/megapirateng/wiki/confighw?wl=en