Hi,

I ultimately want to build an Arducopter, but since my electronics skills are a bit rusty and my RC experience non-existent, I decided to get my feet wet by flying a TRex 100 and building a gyro-stabilized camera mount for my motorcycle based on the Arduino Uno and the DMP6050.

I've had good success with the Uno+6050 using the DMP yaw-pitch-roll output, but this is only useful in a non-accelerated reference frame, i.e. not on the bike.  For that, I have planned to switch to integrating the gyro output whenever the magnitude of the g vector is greater than a threshold.  I'm having trouble dealing with vibration and compensating for drift.  I'm also out of code space on the Uno, so everything I try I have to strip something else out.

So....

I'm considering whether to just jump to the 2.5 hardware and derive my camera mount code from the Ardupilot base, or whether to go with an ArduMega / ArduIMU now and wait to get the pilot hardware when I actually start building my copter.

It's a bit confusing looking at the site as to what is the best autopilot hardware to use.  2.5 looks to be the newest and appears to be the best to use, but I also see a lot of issues posted about it.

Given all this, can anyone provide some guidance as to whether the ArduPilot 2.5 would be the thing to get?  For the Arducopter are straight or right angle headers best?