All - I thought I would post on here about the project I recently finished. This was a project for my university. The goal for this project was to do some form of tracking with the kinect using ROS and send output commands to the APM via MAVLink. I used the roscopter package from Yogesh and expanded upon it pretty heavily. I also made it able to work with the ArduPlane software as well.
You can watch a video demo here: https://www.youtube.com/watch?v=i3rCjBmssP0&feature=youtu.be
For the wiki page/code, go here: https://code.google.com/p/icarus-uav-system/wiki/ROS_APM_KINECT
The code is freely available, just use at your own risk! :)