Here a video about HIL tests of the firmware ArduCopter v2.2 b2xp2 (with JLN updates) with an Helicopter in H1 mode (Raptor 30 type) on the AeroSIM-RC simulator.

The tested features are:
- STABILIZE mode,
- LOITER mode (GPS position Hold),
- RTL (Return To Launch),
- AUTO mode (GPS autonomous navigation),
- AUTO TAKE-OFF,
- AUTO LANDING.

Tested with AeroSIM-RC v3.81 and an ArduMega 2560 (APM1) through the APM mission planner v1.1.20.
Transmitter: Turnigy 9x, Receiver: Turnigy 9x8Cv2.
Helicopter model simulation (type Raptor 30) with 1 roll servo, 1 pitch servo, 1 cyclic servo (type H1).

More infos at:
http://diydrones.com/profile/JeanLouisNaudin