After the vibration issues were sorted out it was time to test the loiter and auto modes. A video of the first successful loiter test can be seen below. The APM 1.0 seems to hold its position reasonably well given that there was a slight breeze that day, the quad-copter was also landed in loiter mode, in this video, by simply decreasing the throttle. The video was taken behind our engineering building at Stellenbosch University. We have also tested the auto mission, takeoff and landing successfully.
The new motor mounts were made by Johan Frank from Malmesbury on his own CNC machine with simple number-plate plastic. These new motor mounts are much less brittle and thicker, therefore much stronger than the original perspex parts.