This is my first real test flight of the APM 2.5 on my Ace Quad copter.

Its a pretty good demo of what it can do. During the manual control I switch back and forth between stabilize and loiter modes.

0:00 - 1:30 warm up
1:30 start auto mode following waypoints
2:30 max altitude of about 60 meters
3:00 start heading back still in auto mode
3:45 if you watch in HD you can see me waving on the ground
4:00 back to manual control and free style flight

http://www.youtube.com/watch?v=FX84zfOsHt4