One of the things that I believe is greatly overlooked is, the WM+ has Analog Gyros and an internal ADC. So this makes things somewhat complicated because there are three steps to getting the data into the Arduino. Analog - Digital conversion - I2C. I would suggest making the breakout board compatible with analog devices. I am presently testing some analog devices with the Alex's MultiWii and my preliminary results looks very promising. Right now, I am going a Cycle Time of about 2000 with Gyros only and about 4000 with the Accelerator. I have not flight tested this yet, just bench testing. Who said it doesn't RAIN in Sunny California?