Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!   Enhancements: The first ArduCopter code release optimized for the APM 2.  Leans and drift should be much reduced or even eliminated for most users.  This was accomplished through a number of core improvements to the DCM implementation by Tridge like this one and this one. Loiter and wayp…