Successful tests flights (full autonomous thermal soaring mission) with the ThermoPilot v6.5g firmware (JLN) done on July 2012 by Jean-Louis Naudin
e-Glider: ASW-27 (S2G kit), wingspan: 4m20, weight: 4.5kg
Avionic: ArduPilot-Mega 2560 (APM v1.4 full kit) with magnetometer HMC5883L, GPS MT3329 and airspeed sensor.
Firmware: ThermoPilot v6.5g by JLN
more infos at: