The ADIS16365 Inertial Measurement Unit has been updated to include a magnetometer as we had previously hoped.
The new ADIS16405 now includes a 14-bit 3 axis magnetometer allowing for even more accurate inertial measurements for your aerial robotics project.
Analog Devices promises "0.05 degree rate-sensor orthogonal-alignment-accuracy" for the alignment of the gyroscopes.
The new sensor is pin compatible with previous versions so the only design updates, besides swapping out the sensor, will be software changes.
Estimated pricing for the ADIS16405 sensor is $412 for quantities of 1,000 units.
Hopefully, they have already thought of integrating a barometric pressure sensor for use as an altimeter.