I have been working on a hexacopter for aerial videography and photography.   The hexacopter is equipped with a ArduPilot Mega with sonar, gps, magnetometer and a camera gimbal.  After hours of tuning, I got the Scout Hexa really dialed in.

I really happy with the stability of the Arducopter code.  Here is a video demonstrating some of the ArduPilot Mega's capabilities.  I am working on eliminating the aircrafts vibration to the camera.