Advantages with the AeroQuad software architecture:

Easier troubleshooting of hardware with individual tests programs for each sensor.

Updated task scheduler to clearly define timing of critical tasks

Sensor classes are separated into their own libraries. If you want to add a new sensor, add a library based on the defined functions for seamless integration into the flight software

Flight control functions are also separated into their own libraries with well defined interfaces and properties such that if new features are added or enhanced, there will be minimal impact to the overall Flight Software performance