They could not have done a better crossover, EVER. In the midst of hilarious antics by both Rodney and Vala, you get some more information about the Ancients, Merlin, Morgan La Fay, and Atlantis; as well as killing two birds with one stone -so to speak-, or rather three, when they take about a Hive ship, and Ori ship AND the Super Gate.
It was also great that they made references to both shows' past episodes as well as great character interaction.
I, as well as probably anyone who watched this episode, would love to see more crossovers like this! It was well done and great to watch.