This isn’t fancy gimbaled sunsets or screaming down mountain ridges or flying through abandoned warehouses … just some basic flying from my senior telemaster on a moderately windy day. (Winds ESE @ 12 kts with gust and turbulence.) Take off and landing is flown manually, but the rest is under full autopilot control. I was testing a new quaternion based 15-state EKF and a simple stability augmentation system that lives down stream of the main autopilot, plus a bunch of other code changes from the winter. Once I got my speed controller to arm, everything went really well!