Here a video of the first test of my quadcopter (QRO) during a full autonomous flight in LOITER mode (GPS position Hold) at low alt with the firmware Arducopter v2.0.51. The altitude is locked by a barometric pressure only (without a sonar sensor and without an optical flow sensor).

Hardware Setup:
ArduMega 2560 + IMU Shield
- HMC5843 magnetometer
- GPS Mediatek MTK 16 (10 Hz)
- firmware Arducopter V2.0.51 (original version)

- Receiver: Turnigy 9X8C v2
- Transmitter: Turnigy 9x

- four brushless motors RC Timer BC-2836/11 (750 KV)
- two CW propellers 12 x 4.5
- two CCW propellers 12 x 4.5
- fours ESC 40A RC Timer speed controllers
- one Lipo battery 3S Turnigy Nano-Tech 2200 mAh

- Take Off Weight (TOW): 988 g without payload

- Flight time: about 10 min

more infos at:

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