The main board is of course front and center, and you can see the GP and the IMU on top of it. The Beaglebone Black is under the board, sticking out on the right.
The little black box on the right is the RC receiver, and the little black box on the left is the AIS receiver. The AIS antenna will eventually be mounted higher, when we find the right nut for the bulkhead BNC. In the meantime, the antenna and cabling is just taking up space inside the box.