I have written and tested all of the code necessary for reading from the sensors, determining the aircraft's orientation and controlling the throttle and control surfaces. The airplane is mostly complete, but I still need to finish the beaglebone cape and wire it into the plane (videos will come!).
Currently the orientation code I am using is using Euler methods to calculate orientation from the accelerometer and gyro. This works for now, but in later versions, I plan to migrate to a more advanced magwick filter for quaternion based IMU implementation. This will help reduce sensor noise and eliminate gymbal lock. (You may see in the github that I have already put a lot of work into this)