ArduPilotMega integration with QGroundControl is finally finished. All of the basic functionality is there although there are some finishing touches that need to be done. I added the ability to set local/global waypoints and also actions (takeoff/land/etc.) to easily integrate with the existing APM autopilot software. A 3d osgearth view inspired from dronegcs is in the works and we hope to have it together soon.