I have jrdrones ArduCopter Quad with ArduMega1280, 20A ESC, 880kv motors, sonar. Using the 2.1.0 Alpha software.
I have just got it flying for the last month or so, and have flown it a few times with increasing success, total time about 30 minutes.
I did my first flight of my ArduCopter 2 with APM 1.0 last week (after a 9 month off and on build with my son).
It all went pretty well, only a few broken blades, but it did stabilize pretty well.
To help analyze things, I am trying to get the logs to