This video shows the Bocian glider first flying uncontrolled, then I cause a spin manually, and after that turn on the stabilizing autopilot.

I wrote a more advanced autopilot that homes a glider in on a target location, now I need to migrate that to fixed point precision- so far I've only done the easy part which is to dampen the sensed angular rates.

More info here code.google.com/p/binarymillenium/wiki/FlightGear

Also check out hackerbotlabs.com/ which has some information on the the glider project this is a part of.