I’ve been flying various incarnations of software on my almost 3 year old Arducopter and never felt comfortable enough to trust flying it by video signal alone – until now. The inertial positioning in horizontal and vertical is really good and feels rock solid under fpv. The “return home feature – rtl” is also very reliable now and I trust if I loose video signal, I can get home. I flew 12 flights  totally under fpv the weekend of 7/13/2013 and had great success.  I invoked multiple rtls – at least one every flight and a total of 15 or so over the weekend. I was also using a beta iPhone app to watch flight values and battery condition with voice warnings of low battery etc. Here is video of one of the flights at my in-law’s farm: