Here a video of the Hardware In the Loop (HIL mode) test flight of the ThermoPilot v7.01 with the X-Plane v9.70 simulator.
The purpose is to conduct a full autonomous virtual mission on the X-Plane v9.70 simulator by using the true autopilot hardware (an ArduFlyer v2.5.2 IMU board) which is used in the real MAJA UAV model and connected with the real mission planner used in the field.
The tested features are:
1) Full Auto-TakeOff,
2) Full autonomous navigation under Flight Plan,
3) Full Auto-Landing.
The Thermopilot v7.01 firmware is a full improvement of the ArduPlane v2.73.

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