I've been hard at work making a small, single board hardware platform for stabilization/autopilot purposes.
The board is very small. Currently it measures 1.5"x1.1" (39mm x 28mm). It runs a 16Mhz Atmel Atmega328p.
Also, included on board are a 3-axis mems gyro, 3-axis mems accelerometer and a 3-axis magnetometer (no in the picture above).
Input voltages are 5v-16v.
The board can see use up to 16 I/O ports for PWM (in/out), external modules etc...
There's also a I2C header for external I2C units.
The alpha boards are already running a cut-down DCM code:
I'm planning to implement fist a version of the Ardupirates code.
If you're interested in one of these please drop me a line here or via email (firstname.lastname@example.org)