We're within a day or two of releasing ArduCopter 2.6.1 to the public in the Mission Planner. It's the best performing code we've flown and the waypoint accuracy is really impressive. You can check out Marco Robustini's video above to see an long-distance waypoint flight, some tight loiter at 5:30 (holding in a 1m box!) and a fun demo of autorotation.
A full list of changes is here, but they include: