Here in this video the firmware ArduCopter v2.2b2xp (with some JLN updates) is tested in HIL simulation on the AeroSIM-RC simulator connected on an ArduMega 2560 board (APM v1) through the APM mission planner v1.1.20.
A flight plan have been stored in the eeprom of the APM, then the AUTO mode is started and the flight plan is launched:
- Auto TakeOff,
- full autonomous navigation (3 WPs),
- Auto Landing.
More infos at: