Some of my projects with the Robovero have required high speed measurement of the accelerometer, magnometer, and gyroscope. Additionally, the code base needed to be in C.
I’ve decided to opensource the necessary firmware changes and a simple C program to communicate with the Robovero in the hope that others will find this useful.
The details can be found here: http://www.agottem.com/robovero_sensors
The above webpage provides the necessary firmware patches, detailed documentation of the firmware changes, and the source to the simple C program.