I'm looking forward to connect sensors to my quad where i can install kinect's depths sensors to make 3-D maps, and install face and voice recognition sensors, so apm was my obvious choice. But now some people say that apm is shit, naza is more stable, apm is tough to operate, naza is plug and play, etc etc... what can i say?

i need open source platform but essentially require quad for aerial photography and stability is more important as i can use an individual system for sensors.

you can use apm with optical flow and sonar i have tried it. well you need a massive quadcopter to lift the kinect even if it is striped down and all the electronic payload .
we use UTM-30LX from hokuyo with gigabyte brix

Ur the guy I was looking for... Sonar was to be mounted.. Can u describe ur setup??