So, I'd been having some trouble with my first APM board - I found the X and Y gyros were not working - I tested the connections, and found that the ADC was working correctly, but I was not getting a signal from the leads of the actual gyro chip. It's been way more than 30 days since I ordered it, so I could not return it to the store, so I decided to bite the bullet and order a second APM. After soldering it together, it appears to be fully functional. Now I should be able to get on with some of the ROS stuff I mentioned in the last post.
Here is some more info on my blog, as well as a video of my pre-flight check of manual and FBW_A modes:
I've also been able to test it with a both QGroundcontrol, and the mission planner GCS successfully, so I'm hoping for a test flight later this week.
On a sidenote, I noticed that Sparkfun came out with a USB interface board for Andriod phones - which could be an excellent way to connect an XBee directly to an android for a phone or tablet-based ground station.