Excellent, great stuff.
Ah, by the way, the features shown in this video are not available in Copter-4.0.3 (or 4.0.4). You’ll need to load “latest” (aka “master”) which can be loaded onto the autopilot from MP’s Install Firmware screen after pressing “Ctrl-Q”. Alternatively the “latest” firmware for a Pixhawk1 can be downloaded from here. Please be careful with “latest” though because it hasn’t gone through beta testing so it’s not as safe as beta or stable.