"Follow up:
You can upload custom or older builds of APM firmware via MP.  You can see how to activate the "advanced" mode which gives a more options on the firmware screen: http://planner.ardupilot.com/wiki/commonmission-planner-command-lin... .…"

"Same thing here with a new tri copter build. MP shows left tilt when uav tilted right and vice-versa. Anyone figure out what's up?  I've been wanting to get into the Ap code, but I hoped it wouldn't be to fix something I didn't break... ;)

Is there…"