Here's the latest on Pipo board development. Code already contains AHRS, PID, PWM and multiplexer routines. I still need to complete the AP/GPS routines, the simple configurations via the radio and only after that I'll tackle the AP routines.
As it is I think I'm doing OK for space. I'm currently using ~40% of program space and ~15% of eeprom space so there should be enough room left over for the AP.