I'm currently copter-less and waiting on new motors to arrive from China, so I had some spare time this weekend to do a quick side project. It's a ground up re-write of the original Ardupilot using the latest Libraries for APM. The only difference is I had to use some tweaks to avoid filling up all the flash ram. With the Ardupilot GCS code, it's less than 1k from full. But it's all in there.
I could use some help testing because I can't get away to fly anymore. All of the systems seem to work correctly. The only trick is that the AP_config.h file needs your exact radio pwm values.
You can use the AP_RC_Channel example sketch in the Library to get those values.
Otherwise it works with HappyKillmore's GCS and the latest GPS modules.
RAM is totally freed up using the PSTR macro so no more code crashes...
For know you can leave a comment here for bugs and fixes. Then I'll do a Beta and start using the issues list.
Code is on the Ardupilot Trunk and called Ardupilot_2_8
Use the latest Libraries from Ardupilot Mega.
If none of this post makes any sense, I wouldn't bother downloading. Just wait for a Beta.