I received the board a few days ago and am very impressed with Tom's attention to the details. It's a quality product and the size of the board is much smaller than I expected. I particulary like the thin profile.
I powered it up yesterday for the first time using the R13 firmware and software. The configuration tool has a few bugs (maybe visual studio bugs!) but it does work. I haven't done anything with the bootloader yet.
Using the configuration utility and the rtos_pilot firmware, I calibrated the sensors and had the cube displayed and stable within a few minutes.
The GPS interface in this version of the configuration utility appears to be a work in progress. Couldn't get the baud rates set - it looks like the "operational baud rate" is hard coded to 115200 in the rtos firmware. I hard coded the startup and operating baud rates in the firmware to 115200, and configured my gps the same. Works great with the gps_test example code but not in the rtos_pilot firmware.
I also couldn't get ppm input to function from the configuration utility with the rtos_pilot code. Again, it works extremely well standalone using the ppm_in_test code.