Here a video of the ThermoPilot v6.4 in action during a Slope Soaring simulation in HIL mode. This is a true glider model without motor. There is a 16 knots front wind on the slope, the glider is taking off from the ground in STABILIZE mode, then the ThermoPilot is set in AUTO mode to hunt the dynamics upwards from the slope.
This is a HIL simulation done on X-Plane v9.70.
More infos at: http://diydrones.com/profiles/blogs/full-autonomous-cross-country-soaring-flights-with-the