I purchased a hexacopter kit from 3DR in May – right before the APM 2 was released. Nonetheless, I have had great success with the APM 1 and enjoy flying the hexacopter. I'm currently running 2.7.3, planning to update to 2.8.1 soon. The 3DR/DIY Drones dev team has done excellent work: 2.7.3 flies significantly better than any previous firmware I've used.
Until now, I have been satisfied flying in stabilize mode, and I have experimented with loiter and alt hold. However, I would like to attempt to fly waypoint missions. Will it be possible to still have success with the APM 1, or would it be better to upgrade to the APM 2.5? I'm hesitant to invest more in a new board because I spent so much on the initial kit. I appears that one of the biggest limitations of the APM 1 setup I'm using is inaccuracy of the mediatek GPS. Any thoughts/recommendations? Thanks!