Something I've been meaning to do on the back burner is integrate Robot Operating System (ROS) into our firmware stack. This would open up a lot of tools that are widely used in robotic research for us.
If anyone would like to use this and has thoughts, I'd love to hear them. Now the infrastructure is in place it might alter how I handle some of the details.
For example you can use a system called gazebo to simulate the behavior of a quadcopter in a realistic environment:
and compare this to the real performance. This could allow better developing some algorithms on the ground side and validating them.