I've just released ArduPlane 2.61, which has a lot of small bug fixes from 2.60.

Changes since the 2.60 release include:

• fixed wheeled takeoff to work with the APM_CONTROL controllers
• support setting the plane into MANUAL or FBWA via MAVLink
• added XTRK_USE_WIND parameter. When set to true (which is the default) the wind estimate from AHRS is used in the navigation code to help with navigation crosstrack
• added support for using the airspeed estimate from wind + groundspeed when no airspeed sensor is installed to do surface speed scaling
• added reporting of estimated airspeed over MAVLink if a real airspeed sensor is not available
• fixed a bug with the throttle suppression code that prevents takeoff in auto when near home. The suppression code could get a false positive if a large gust of wind hit. We now no longer use airspeed for throttle suppression decisions
• removed the reset_I() calls and instead auto-reset integrators in the PID library if the PID has not be used for 1 second
• fixed a bug with DO_JUMP mission elements introduced in the last release
• added ALT_CTRL_ALG option. When enabled, this allows you to select the non-airspeed altitude control code with airspeed enabled. This makes it possible to use airspeed for speed scaling and wind estimation, but use the non-airspeed control for throttle and pitch
• improvements to the APM_OBC failsafe module
• added new TELEM_DELAY option to delay telemetry on startup to prevent Xbee bricking
• fix for HIL simulation in ATTITUDE mode
• changed FBWA to obey both lower and upper pitch limits
• added magnetometer accumulation in main loop. This gives us much better mag averaging, reducing compass noise a lot
• added XTRK_MIN_DIST option, allowing a minimum waypoint distance for crosstrack navigation.
• added support for the DO_SET_SERVO MAVLink command
• added RUDDER_STEER option. When enabled, only rudder will be used for steering on takeoff and landing
• fixed mount control code to allow multiple channels to be set to the same function. In particular this fixes having multiple manual output channels.
• fixed throttle nudging to not depend on the RC3_TRIM value
• added THROTTLE_NUDGE option for enabling/disabling throttle nuding

Happy flying!