ArduCopter v2.1.1 R6 in Action - LOITERing around a target

Here a video of a test flight in HIL mode on X-Plane v9.70 of the firmware ArduCopter v2.1.1 R6.
This is a test about the LOITER mode (1 turn) around a target during a full autonomous flight under a flight plan (AUTO mode).
The take off and the landing are also done automatically.

More info at:

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