In 2001 I built a plane with an autopilot.
To take off the driver uses the remote control.
Then when the plane is high in the sky the pilot shut down the remote.
The autopilot captures and stores the GPS coordinates.
Then the plane turned around GPS coordinates in memory.
The autopilot calculation if he has to turn left or right.
The flight of 250 km / h measured by GPS.
Then for the pilot landed the aircraft with the remote control lights.
Aeroplane weight: 19 kg
Speed: 250 km / h
Construction: aluminum + balsa
Control: PLC S7226 CPU Siemens Industrial
Gyroscope: two mechanical axes, manufacturing staff,
GPS: Hiking Type
Engine: 60cc 3w
1 liter of gasoline tank