<p>Jeff, you're not over your head at all. You pointed me to the right direction because I was very reluctant to delve into the code in the go language. In the Stratux project, you will find code written in many languages, probably to satisfy the egos of the many coders who needed to show off their skills in the obscure. Thanks to your help and hopefully from Adventure Pilot I can get a handle into how GDL90 gets augmented with AHRS data.<br /> <br /> Actually, once the formats are defined, it is not a difficult project in the software sense because Navworx did all the heavy lifting as to translating the raw GPS/WAAS data into GDL90 format. I have seen some AHRS boards that have built-in Kalman filtering so that relieves me of another burden. Kalman filtering smoothens out data that tends to jbe "noisy" and projects the data, in this case the pitch, roll and yaw, the time frame following the last observation. Think of it as a debounce chip for continuous data.</p>