Here a video of the MAJA drone on Xplane v9.2 tested in HIL (Hardware In the Loop) mode with the ArduMega 2560 board with the firmware ThermoPilot v5.0a (JLN) and the APM Planner.
I have used here the same PID setup than for the true MAJA drone tested in flight. The HIL flight with Xplane v9 is really equal to the true flight with the same hardware setup.
See the true flight of the MAJA drone with the APM at:
more infos at: