Here a video of a test of the firmware ArduCopter v2.1.1 r5b in HIL mode on X-Plane v9.70.

I have tested here the:
- LOITER mode (GPS position Hold)
- AUTO mode (full autonomous navigation under flight plan)
- Auto LANDING mode: full auto landing

More infos at:
diydrones.com/profiles/blogs/arducopter-in-action-testing-the-quadcopter-hil-mode-on-x-plane

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