"Nope, I think the link went down, anyone kind enough to email me at peterho78 at yahoo.com.sg please? Curiosity is killing me!
 "

"Hi, just to give a little feedback on what we did.
 
- make sure you add a magnetometer, else at low speeds GPS does not give enough resolution and it sails in circles.
- two-way telemetry was a pain with the original Ardupilot, use APM, it is…"

"Hi Paul, this is something that can be done, and would be interested in exchanging notes privately please. Could you email me at peterho@hopetechnik.com ? Thanks"