There's a current bug in the cRIO FPGA image that prevented me from using it in the 2010 BreakAway game, but I am going to be prototyping with this thing like crazy in the off-season:
http://www.sparkfun.com/commerce/product_info.php?products_id=8656
I've been promised that the guys who work on the FPGA will fix it for 2011, so that I can get I2C communication with it working - the compass does clock skewing and the current cRIO implementation doesn't like that. With this sensor, and some well-placed encoders on the drivetrain, I should be able to drive any type of robot anywhere on the field during autonomous AND make the robot do whatever I want during the game (including field-oriented driving). With its integrated 3D accelerometers and the tilt-compensated heading, what more can you ask?
-Danny