Revision 2 of MatrixNav firmware has been flight tested and is now released. The documentation and operation stays the same as for the previous version. The link on the main page for the UAV DevBoard
points to the new version. The documentation is available there, also.
The baud rate for the binary serial interface to the GPS has been raised in this version from 4,800 to 19,200. This eliminates a 12 second delay in the GPS information that was present in the previous version. As a result, performance in windy conditions has been improved.
If you are using the previous version of MatrixNav, replace it with this version. If you made any changes to the control gains in the file controlGains.h, be sure to either save your existing file, or record the values that you are using, and edit the controlGains.h file that is part of the new firmware.
The YAWKP and YAWKD gains in the new version have been lowered from the previous version by a fair amount, so that the turns are wider and smoother. In the previous version, a switch to RTL mode would result in your plane "turning on dime". In one of the comments below, Sid recommends lowering the gains. Just so there is no confusion, you should understand that they have been lowered.
Also, in the previous version of MatrixNav, YAWKP and YAWKD were postive. In this version they inadvertently wound up to be negative. So if your plane is already set up with the previous version, either make YAWKP and YAWKD positive, or toggle the position of switch SR1 on your board.