I am wondering if anybody has been able to do any sort of characterization of the attitude estimation accuracy of the APM 2.0. I asked on the Blog Post 'Great lecture on the Outback Challenge by APM developer ... what type of direct geo-referencing accuracy he was getting and he said "20m error at 100m altitude in our testing so far." If one were to assume all the error was from angular uncertainty in a single axis, this would suggest a number in the realm of 11 degrees of error. This is one case, and I know there are a lot of contributing factors for direct geo-referencing error but these are only numbers I could find so far. Does anybody else have insight on what one could expect? Are there any special calibration or alignment steps taken at the 3DR factory?