I love sparkfun! I actually want to connect my N900 to a CAN network so basically i didnt want to use an expensive bluetooth in the middle. I wanted to take advantage of the USB to power the phone/tablet and to communicate with it at the same time. I read the post for the n810, but i think there is a hardware limitation on the N900.
I have never progammed for a mobile device, neither have used linux. At least i have scratchbox up and running and i am looking forward to learn QT. I will be happy to learn more from your implementation using bluetooth.
BTW: I worked whit another AHRS from Microstrain, but i must say that the Vectornav's looks pretty amaizing! what are you planning to do with it?