in the px4fmu_1.7 branch I added some preliminary/incomplete board files for the px4fmu board.
I quickly put together an imu subsystem for the px4fmu... obviously not tested at all since I don't have one.
Servos 1-4 on the px4fmu are added so far...
Just don't expect everything to work quite yet, as there still might be some misconfiguration.
If you want to dive right in however and test and adapt this, you are more than welcome ;-)
This is all in the px4fmu1.7 branch, so:
git remote update
git checkout px4fmu1.7
make