I just wanted to let everyone know I've pushed an update to the SIM. What's new:
Upped iteration limit so it will run indefinitely.
Stand alone executables for Mac and Windows.
A new "lead" filter to remove GPS latency leading to improved accuracy in AUTO modes and loiter.(coming to main code soon.)
Inertia nav - you must up the rate_P gains by 3x to 4x to see a difference.
Lot's of under the hood enhancements.
Here is the GIT:
Arducopter Sim still lives at http://www.jasonshort.com/