APM2.0 with ArduPilot 2.6 and MinimOSD v 0.1 (firmware 1.9 mav 1.0) installed on Maxi Swift.
All launched and landed in Stab mode, few seconds after lauch - mode switched to RTL, then to Auto.
During flight no 1 (has 3 "missions") - WP list loaded in-flight via telemetry.
Telemetry: Xbee Pro 900. On the ground - 13.5 Yagi, On MaxiSwift - whip.
Camera - GoPro Hero r2 recording mode, video link: 1.2 GHz, Tx 1.5W + vee antenna, RX + BiQuad antenna.
Flight no 1 - triangle 1x0.5 km, then lift 700m, then lift 1200m
Flight no 2 - lift 2500m
Flight no 3 - distance 5 km, route 11 km
Flight no 4 - distance 5 km, route 12 km
Flight no 5 - distance 10 km, route 23 km
Sample params and logs/kml files: logs%20and%20parms.zip
from this flight: