I have a quadcopter that use normal RC receiver. But now i would like to add in wifi functionality to it. So now, I am trying to connect wifly GSX breakout (http://www.sparkfun.com/products/10050) to ardupilot mega… But i can’t find any available Rx, Tx pins to use because the IMU shield (http://store.diydrones.com/product_p/br-0012-01.htm) has occupied them. Anyone knows how to connect Wifly to ardupilot mega(+ArduPilotMega IMU Shield/OilPan Rev-H)?