I had a problem with my APM today, specifically a tumbling erratic attitude indication in the MP flight data page. When I looked at the gyro logs in test it showed all 0's. This is the second time I had this problem and have successfully "fixed" it by reloading the code, only this time I had to load copter code and after checking the gyro in the MP it looked good. I then re-loaded airplane code and all was good so I finished the setup and will test fly tomorrow
This appears to be a corrupted eeprom issue that cannot be cleared with a eeprom reset using CLI.
rev H oilpan