I am working on dynamics model development of my aircraft. I want to use ArduIMU+Pilot as a data acquisition hardware. I am going to disable all autopilot functions and make the board perform measurements and send it down through XBee. In order to do so, I think it will be easier to start with Doug's ArduIMU+Pilot firmware. However, I don't have the code and it is not available for download anymore.
I know Doug is busy with the development of ArduPilot 2.5.1, so I don't want to bother him with this problem. If any of you has the ArduIMU+Pilot firmware and willing to help me by sharing it, I would be very grateful.