My name is Guilherme Sousa, I'm an Aerospace Eng. 5th year student currently working on my MS thesis in Flight Control at ENAC in Toulouse. First of all congratulations to ArduPilot on getting selected for GSoC this year. I'm opening this topic as I am interested on the improvement the flight cotrolers for the Single and Coax copters. I've been running some simulations on SITL and the singlecopter even with the presence of wind seemed to perform similarly to a quadcopter on waypoint missions. What would be the next step testing the existing controller of the singlecopter?