Here is what you need to start with. ArduIMU V3. it has the same sensor that I am using in the F1 which uses a special version of APM-2. APM-2 is backordered for some time yet so V3 is an alternative and Michael Oborne has some good code for it. I have not tried this yet but it should work just fine. About 90 in stock so they wont be there for long.