In this video you will find a full test of the ArduCopter v2.1 that I have done with my QRO (Quad Rotor Observer) done on december 17, 2011.
– STABILIZE mode: Pitch/Roll auto level
– LOITER: GPS position hold
– recording a Flight Plan: WP are recorded with the SW7
– playing the Flight Plan: Full autonomous flight
more infos at: http://diydrones.com/profile/JeanLouisNaudin