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:

Loading more stuff…

Hmm…it looks like things are taking a while to load. Try again?

Loading videos…