Blogs

The latest APM planner has full pid/planner/gcs while under hil/real using mavlink. Some new features since the last major release are a

simple GCS

Planning via Xbee

HIL via Xbee if you so wish

And the ability to do all the above all at once.

This latest version can be download from the SVN at http://code.google.com/p/ardupilot-mega/source/browse/Tools/trunk/ArdupilotMegaPlanner/bin/Release OR by using the Update feature in the menu.