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INAV does support different kinds of GPS, and it does support I2C devices.
INAV is opensource.
INAV can be controlled using example UHF link, bluetooth link, WiFi link and simular.
INAV does have groundstation like Android APP EZGUI, also have PC version MWPTOOLS.
INAV also does support some limited function of MAVLINK, so should have limited funciton with other ground stations aswell. ( Untested )
INAV does not however have auto tuning because implentation was never working any good.
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