Denny, it is ALL there already. 90% of the code is the same. I am responsible for porting it over for Helis. IMO, the helis fly even better than the multirotors. I don't have a lot of experience with other FBL controllers, but I've been told the APM flies the 450 better than anything else. No acrobatics, but stability and fast forward flight. I can fly the 450 at 110 km/h at the limits of visibility, completely relaxed and have fun with it. And my 600 is rock solid in any wind. This is from 2 weeks ago, the first full auto-landing of a Heli. This is obviously just the little 450.
http://www.youtube.com/watch?v=gk4ma9mX-jk
I have not done the cube mission with it yet. This is mostly due to time, money and complexity of the airframe. I'm still tuning in my 600 heli setup, and the airframe is still evolving. But I've already got it running waypoints at 72 km/h, and pushing 120 km/h in Alt_Hold mode which means waypoint flying at those speeds should be possible.
If I had enough resources to quit my dayjob and do this full time, we'd see some pretty amazing things. From what I can see I am surpassing the published specs of equivalent military industry helis.
Oh, and big news Roberto Navoni is going to start producing a *3 axis* brushless gimbal controller, running with a 32 bit controller, and will be able to interface directly with Arducopter which will bring important advantages. Namely, you *cannot* maintain a level horizon in high speed flight unless the IMU has GPS feeback. This is where all the other systems will suffer.
