Ahead of the Iris launch, we've been testing more and more tough missions in fully autonomous modes. Next to our Berkeley offices we've got a small courtyard with high walls that is a combination of dodgy GPS and gusting wind. So naturally enough the Flight Ops team decided to run full autonomous missions with a 3DR Y6 all afternoon to stress test the tuning. I walked out during one of these and caught it on video, above.
This is a fully autonomous takeoff, three waypoints and autolanding. It did this all afternoon and always landed around one meter from launch point.