# I want to build autosteer Single GPS + panda + IMU

**URL:** <https://discourse.agopengps.com/t/i-want-to-build-autosteer-single-gps-panda-imu/10241>\
**Category:** Autosteer\
**Created:** [22 September 2022 20:29 UTC](https://discourse.agopengps.com/t/i-want-to-build-autosteer-single-gps-panda-imu/10241 "2022-09-22T20:29:27Z")\
**Posts on this page:** 1\
**Showing post:** 7

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**Author:** ![wland](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/w/f9ae1b/32.png) [@wland](https://discourse.agopengps.com/u/wland)\
**Post date:** [23 September 2022 18:24 UTC](https://discourse.agopengps.com/t/i-want-to-build-autosteer-single-gps-panda-imu/10241/7 "2022-09-23T18:24:26Z")

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Which firmware we should use in above configuration?

for PCB V2 or Kaupoi:  
Autosteer\_UDP\_v5\_6

for Teensy+IMU+GPS  
Autosteer\_gps\_teensy\_v5\_5 ? (Autosteer.ino and AutosteerPID.ino would be useless?)

Is it only UDP or is also USB version still availiable?

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