Development of Heliquad

Does anyone know if there are plans to develop heliquad further? I have a basic setup now on a large copter (aprox 8 feet across) and I’m wondering about altitude hold and loiter functions.

I’ve tried the heliquad firmware on the Assault Reaper 500 (I think it’s about 8 feet as well) and it works quite well. I’ve been running Alt Hold, Loited, RTL, and auto modes with success.