I have created an example driver for the range of Advance Navigation INS devices eg Spatial, Spatial Dual, Spatial FOG, Spatial FOG Dual, Motus, and Orientus.
The repository can be found here: GitHub - an-scott/advanced_navigation_driver: Driver for the range of INS systems from Advanced Navigation.
If anyone has any questions, do not hesitate to contact me.
Scott
Application Support Engineer
www.advancednavigation.com.au