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An eye opening and entertaining post over at ardupilot.org from developer Grant Morphett:

"Some of you may be wondering how much real world testing us developers really do. Well the answer is we try to test as much as we can. We especially try to test the limits our boundary conditions that most people won't test because they like their vehicles in one piece.

This thought process led me down the track of wondering if I could do a fully autonomous landing of my test plane - UPSIDE DOWN. i.e. flick the plane into inverted flight via the switch (howto - http://ardupilot.org/plane/docs/inverted-flight.html4) and let the landing software run its course. A quick test in the simulator and it worked great. So on the weekend we made the above modification to my test plane which is currently a FirStar EX.

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