We managed to get our hands into a Raspberry Pi 3 and decided to give APM a try with it using the PXFmini.
A Raspbian OS image with everything ready for the PXFmini is available at http://erlerobotics.com/docs/Artificial_Brains_and_Autopilots/Operating_System_images/Debian.html.
Full report of the experience available at http://diydrones.com/profiles/blogs/first-flight-with-the-raspberry-pi-312.