On october 1st, 2011, my MAJA drone has done successfully a full autonomous flight under flight plan with the ThermoPilot v5, an updated version of the Arduplane v2.23. The video of the flight is recorded with a GO pro HD wide on board. This test flight is a part of my ThermoPilot project (Autonomous Thermal Hunter glider).
The flight of the real MAJA drone is very similar to the simulated flights done with the Xplane simulator v9.7 using the modelized MAJA in HIL mode with the same hardware (APM2560) and firmware (ThermoPilot v5).
You will find below, a video of the simulated flight in HIL mode with X-Plane v9.7 with automatic take-off and landing:
You will find also some photos of my ASW24 Thermal Hunter drone HERE also tested this WE with the MAJA...