If you have links to AP(l) tips and tricks, post it or send an email and I'll add it to this discussion post, that way we can get a ton of links all in one spot. - bcd

Here's one to the AP(l) wiki http://code.google.com/p/ardupilot/wiki/ArduPilot

ArduPilot (legacy) version 2.6.5
Download: AP_2012_2_6_5_TS.zip

By Dr. Mike Black

It will fly most normal configuration aircraft, but you MUST check yoru servo directions and ensure that GPS is properly locked, if that is not working, it will not fly properly!

Please note that this is an interim version. The V2.8 will have the 5 pos toggle and the ability to script a flight, (not APM way, as i want to keep it with all present variables)

ArduIMU

http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6