The latest APM planner has full pid/planner/gcs while under hil/real using mavlink. Some new features since the last major release are a
simple GCS
Planning via Xbee
HIL via Xbee if you so wish
And the ability to do all the above all at once.
This latest version can be download from the SVN at http://code.google.com/p/ardupilot-mega/source/browse/Tools/trunk/A... OR by using the Update feature in the menu.
Comment by Rhett Walker on February 7, 2011 at 8:17am 

Comment by Mark Grennan on February 7, 2011 at 10:44am 
Comment by Darren on February 8, 2011 at 10:33am Brilliant work! Thanks very much.
Comment by Gerhard Siemons on July 16, 2012 at 3:35pm Very Nice Work, may i help you to translate to German?
I´ve some Questions about xbee 2.4 GHz PrO S1, which will not communicate via Mission Planer but while the MP is connected i can See transmitted data via xctu tool. Any Hints?
Best regards
Gerhard
Comment by zulfadli on February 24, 2013 at 9:11am Sir Mike. sorry for disturb. I cant open link
404. That’s an error. The requested URL /p/ardupilot-mega/source/browse/Tools/trunk/ArdupilotMegaPlanner/bin/Releasewas not found on this server. That’s all we know.
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