should follow this:
You just need Arduino mini board (or similar with Atmega 328P and should be 3.3v level).
Here I will use ArduIMU (as just converter).
Step by step how to upload firmware (attached file under this post, don't use any firmwares from the link) to ArduIMU here:
viewtopic.php?f=7&t=76
Here is the pinout for FY-30 (AHI output):


Pinout for ArduIMU (My test with it):

Keep in mind about colors here (red is +5v, black - GND, Yellow is rx), make sure you connect correctly to FY-30. Wrong connection will damage FY-30A.
Pinout to DOSD+ is very simple, as GND goes to GND, SCL to SCL, SDA to SDA (just 3 wires).
For powering ArduIMU, I use 5v (from BEC) to ArduIMU 5v and GND same pins powers FY-30:

Thanks to Webe (gytiswb) for the firmware. More updates here:
http://www.rcdreams.lt/projects/fy30a-a ... ahi-sensor
Good luck
Virgis