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This is the maiden flight of the latest X-UAV model : "Clouds". It is a V-Tail fixed wing platform, similar to their previous model "Talon".
It runs Arduplane 3.7 on a Pixhawk1 (I try to get a Pixhawk2 for months without any success...Frustrating).
I was supposed to have a flight buddy who would throw the plane while I would hold the Taranis, in order to first maiden it in FBWA. As he cancelled on the last minute and I really wanted to fly the thing, I decided to burn a few steps and try directly this fixed wing alone by programming an auto take-off (hand launched : that means that the following parameters have been set:
•TKOFF_THR_MINACC was set pretty low to 5
•TKOFF_THR_DELAY was set to zero because it is a front propelled fixed wing. Don't do this with a pusher airplane or you might shred your hands !
•TKOFF_THR_MINSPD was set to zero

I have a digital airspeed sensor installed but it was obviously not yet calibrated since this was the first flight. However the EKF managed to fly it through its auto mission correctly on the first try.

I still find amazing how Ardupilot works great, even after dozens of builds I've done with it. Tridge and Randy are just two geniuses (and all other dev I don't know).