First up I have to give a big thanks to the DIY Drones community for developing such a great system, particularly the support documentation. After setting up, tuning and test flying APM the last few months, I have now had many long auto flights with this aircraft without a hitch, with the longest being around 15km.
The aircraft is a 1940's design Trenton Terror originally for free flight. This particular airframe is 20years old and still going strong. Wingspan is 2m, All up weight is 2.2kgs. Powerplant is an electric .32size rimfire outrunner turning a 14x8 prop. I normally run it on a 5Ah 3cell lipo, giving it an endurance of around 25-30mins in a 40kph cruise
Along with APM, I have also installed a 2.4ghz Video link, with a Remzibi OSD.
Belly mount camera
The Trenton Terror prior to being refurbished for APM testing,