HIL (Pixhawk, Ardupilot, FlightGear, Mission Planner)

I have been trying to get Hardware in the Loop working using PixHawk, Mission Planner and FlightGear to no avail.  The instruction at http://ardupilot.org/dev/docs/flightgear-hardware-in-the-loop-simulation.html do not work.  I think they may have be

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