Started using version 2.5.02, same problems... Couln't get the autopilot to function correctly, turn the gains down and it wouldn't follow waypoints nor RTL, turn it up and the wings would rock crazy from side to side.
Moved over to 2.5.03... Setcommand mux bug didn't allow gps lock on the ground.
Tried 2.5.04.. Wing rocking(Guess i'll try setting gains) Problem thou... The autopilot would not disengage... It stayed in fly_by_wire mode... Throttle stayed on 60% no matter what i did with the remote. It also kept stabilizing the plane like a drunk mad man would. Wings would keep rocking crazy... So, end of the story... Had to crash land my plane to get it down... Well, had to crash it from 3m up... So no real damage done. After hitting the ground the throttle would not stop and had to unplug the batt. Plugged it in again.. Throttle also twitched after gps lock. Tried stabilize with throttle on the ground... the throttle seemed to only want to work erratically on and off the whole time, without my intervention.
So, to this date I am yet to have a successful flight with my brushless Wingdragon and Ardupilot.
Please, please someone help me!
P.s. I have ardu328, version 1 shield, em406. Soldered both the jump wires on the bottom of the ardupilot.