I have just posted a youtube video showing my autopilot flying a senior telemaster. I included the take off and landing (both manually flown) because I thought it looked cool.
Here is the youtube link (I don't know how to embed the video here in the forum area.):
Here are a few details. Aircraft is a Senior Telemaster, electric powered. An 8000 mah (5 cell) battery yields 30+ minutes of flight if I slow cruise at 30 kts. The avionics are powered by a gumstix verdex running the main loop at 50hz. The IMU is a vector nav. We are running a 15 state kalman filter that produces a good estimate of roll, pitch, and yaw by combining the inertials with the gps data.
Recently I have been working on code to estimate the wind vector and true airspeed. I can use these estimates to plot stable up wind courses and roll out of my turns in time so that my ground track lines up with the target ground track (even in strong head winds or tail winds.)
As you can see from the windsock on the landing, the winds during this flight were gusting up a bit. On the next flight I was recording winds in the 14-16kt range at altitude. The aircraft was bouncing around more than the clip I show here, and at times I was crabbing more than 45 degrees to maintain my target ground track.