The onboard systems hovered Dennis' Nova helicopter for entire tanks of fuel yesterday! We closed all the control loops except altitude, so the throttle/collective were still under manual control. Despite a 20 degree magnetometer error, the flight controller managed to keep the helicopter within 1 m CEP during calm winds and 2 m CEP during gusts.
We'll have movies and plots of the sensor data (plus overhead maps) available from autopilot.sourceforge.net. And Rotomotion will be selling IMU / INS kits and turnkey UAV systems based on the designs, too.