Hi all, not really a question, just wanted to fill you in a little. After some work using Yogesh's original roscopter code and modifying it heavily (here's a link) I am working on my next project, using a SBC along with an APM to perform indoor navigation on a quadrotor. Here is the wiki page on what I have so far: https://code.google.com/p/icarus-uav-system/wiki/ICARUS_SLAM
If anyone else is doing anything related and you'd like to collaborate that would be cool. If you just want to use the code for your own that's fine too. I'll report back here as the work progresses.
EDIT: Here is the git clone address:
git clone https://email@example.com/uicrobotics/icarus-slam.git