Other configs feature no more IRs but a simple Sparkfun IMU named SEN-10121,
consisting of a combo of ITG3200 and ADXL345.
Dont know which one to choose for my first setup with a YAPA2...
In my case the IMU was already on board of the autopilot and everything
worked right away(*). But if I would buy one I would just pick one that
appears well documented (in
& mailing list). If you plan to potentially use it for
a multicopter as well I would pick one that also comes with a
magnetometer. If an IMU has a (supported) driver, it should be possible
to combine it with any autopilot. Don't worry if you don't find a
config sample that doesn't feature your hardware. The sample
configuration files are just that: Samples.