Frankly, the hardware documentation for APM2.0 sucks. There isn't a single page that shows all the connections, what is active in the default configuration and how to modify the board to activate different serial and I2C I/O. Additionally, there isn't a page which shows the accuracy and precision of the various sensors on the board (InvenSense MPU-6000 etc.)
I have scoured the wiki many times, and the forums. I can read data sheets but that doesn't mean a whole lot if the sensors are integrated differently. Can someone point me to the source for this information, or should I start digging through the source code and Eagle schematics for basic data?
I am more than willing to help update the wiki documentation if this information can be compiled!