Thanks for your explanation, I need to know if I buy your openIMU300ZA, may I be able to program the ZA module with my own stlink? I want to buy openIMU300ZA not ZI.
Yes, you can use your own stlink. OpenIMU300ZA is renamed to OpenIMU300ZI.
and one more question, in AHRS mode, if any GPS lost occurred, do I need to expect any lose of stability in roll, pitch and yaw axes?
If in AHRS mode, GPS is not used. So, I assume you mean the INS mode. For INS mode, when GPS is lost, it will drop to the AHRS mode after some time. And pitch and roll accuracy will be a bit lower.