Just letting you all know that a new version is up. You must use the new version of Michael's Tool to do the setup. The older tool won't work with this version. CLI usage through the Arduino serial window will always work.
Many bugs are squashed. PID reports correctly now for D terms.
The new rate based nav is on by default, but please be careful with it. Keep that hand on the Mode switch!
Frames are a compile time option in the AP_Config.h file. (or use the GUI tool)
Frame orientation (X or + ) is done with a CLI based setup menu. (or use the GUI tool)
Basic motor LEDs are enabled.
Logging should be better but let's try and narrow down on the Bad Logs bug.