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Hi I am planning to build a quadcopter using the ArduPilot Mega. I can see the main project page it states, "ArduPilot Mega is a pro-quality IMU autopilot based on the Arduino Mega platform, which will fly fixed-wing aircraft, quadcopters and (soon) helicopters" However i cannon see in the code how to configure it for a quadcopter it only seems to have a fixed wing config. does anyone have any example code that i can use or at least point me in the right direction.

I have purchased the ArduPilot Mega and the ArduPilot Mega IMU shield.

Thanks

Chris