Here a video of tests of the features added on the ArduPlane v2.73-xp1:
- Cleanup the FPL with the SW on CH7
- Auto recording a FPL (Auto_Save WP) in flight with the SW on CH7,
- Closed Loop Nav,
- full testing done on X-Plane v9.70 in HIL mode with the same PID parameters than the REAL model (a Calmato Alpha 40 EP)

More infos at:

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