Here's one to the AP(l) wiki http://code.google.com/p/ardupilot/wiki/ArduPilot
ArduPilot (legacy) version 2.6.5
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)