I'm delighted to announce that APM 2 is now out of beta! The current version is 2.1, and is both available in the downloads section of the code repository (for those who want to play with the code), or can just be loaded as normal through the Mission Planner.
This code largely reflects a ton of bug fixes, small enhancements, efficiencies and lessons learned from preparing for and competing in the Sparkfun Autonomous Vehicle Competition (in which it placed 2nd). It should work well with the latest Mission Planner, HK GCS and Xplane simulation.
Huge thanks to Doug Weibel, Paul Mather, Michael Oborne, Andrew Tridgell, James Goppert and Michael Smith, who drove this version.
This version has had a huge amount of testing over many months, but as always, there may be some remaining issues or bugs on unusual hardware configurations, so if you find something, please post a report in the Issue Tracker.