diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 3784c00eaa..512ca5bd8a 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1171,7 +1171,7 @@ static void read_AHRS(void)
 {
 	// Perform IMU calculations and get attitude info
 	//-----------------------------------------------
-	#if HIL_MODE == HIL_MODE_SENSORS
+	#if HIL_MODE != HIL_MODE_DISABLED
 		// update hil before dcm update
 		gcs_update();
 	#endif
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 155bfdb991..355c9e1075 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -91,6 +91,7 @@ def arm_motors(mavproxy):
     mavproxy.expect('APM: ARMING MOTORS')
     mavproxy.send('rc 4 1500\n')
     print("MOTORS ARMED OK")
+    return True
 
 def disarm_motors(mavproxy):
     '''disarm motors'''
@@ -101,6 +102,7 @@ def disarm_motors(mavproxy):
     mavproxy.expect('APM: DISARMING MOTORS')
     mavproxy.send('rc 4 1500\n')
     print("MOTORS DISARMED OK")
+    return True
 
 
 def takeoff(mavproxy, mav):
@@ -110,6 +112,7 @@ def takeoff(mavproxy, mav):
     mavproxy.send('rc 3 1500\n')
     wait_altitude(mav, 30, 40)
     print("TAKEOFF COMPLETE")
+    return True
 
 
 def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
@@ -162,16 +165,18 @@ def wait_distance(mav, distance, accuracy=5, timeout=30):
     return False
 
 
-def wait_location(mav, loc, accuracy=5, timeout=30, height_accuracy=-1):
+def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
     '''wait for arrival at a location'''
     tstart = time.time()
+    if target_altitude is None:
+        target_altitude = loc.alt
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='GPS_RAW', blocking=True)
         pos = current_location(mav)
         delta = get_distance(loc, pos)
         print("Distance %.2f meters" % delta)
         if delta <= accuracy:
-            if height_accuracy != -1 and math.fabs(pos.alt - loc.alt) > height_accuracy:
+            if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
                 continue
             print("Reached location (%.2f meters)" % delta)
             return True
@@ -184,6 +189,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
     mavproxy.send('switch 6\n')
     mavproxy.expect('STABILIZE>')
     tstart = time.time()
+    failed = False
     mavproxy.send('rc 3 1430\n')
     mavproxy.send('rc 4 1610\n')
     if not wait_heading(mav, 0):
@@ -192,24 +198,28 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
 
     print("Going north %u meters" % side)
     mavproxy.send('rc 2 1390\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 2 1500\n')
 
     print("Going east %u meters" % side)
     mavproxy.send('rc 1 1610\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 1 1500\n')
 
     print("Going south %u meters" % side)
     mavproxy.send('rc 2 1610\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 2 1500\n')
 
     print("Going west %u meters" % side)
     mavproxy.send('rc 1 1390\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 1 1500\n')
-    return ok
+    return not failed
 
 
 
@@ -238,7 +248,7 @@ def land(mavproxy, mav, timeout=60):
         return False
 
 
-def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
+def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
     '''fly a mission from a file'''
     global homeloc
     mavproxy.send('wp load %s\n' % filename)
@@ -247,8 +257,11 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
     mavproxy.expect('Requesting [0-9]+ waypoints')
     mavproxy.send('switch 1\n') # auto mode
     mavproxy.expect('AUTO>')
-    wait_distance(mav, 30, timeout=120)
-    wait_location(mav, homeloc, timeout=600, height_accuracy=height_accuracy)
+    if not wait_distance(mav, 30, timeout=120):
+        return False
+    if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
+        return False
+    return True
 
 
 def setup_rc(mavproxy):
@@ -301,7 +314,7 @@ def fly_ArduCopter():
     util.expect_setup_callback(mavproxy, expect_callback)
 
     # start hil_quad.py
-    hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
+    hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --fgrate=200 --home=%s' % HOME_LOCATION,
                         logfile=sys.stdout, timeout=10)
     util.pexpect_autoclose(hquad)
     hquad.expect('Starting at')
@@ -322,15 +335,23 @@ def fly_ArduCopter():
         mav.recv_match(type='GPS_RAW', blocking=True)
         setup_rc(mavproxy)
         homeloc = current_location(mav)
-        arm_motors(mavproxy)
-        takeoff(mavproxy, mav)
-        fly_square(mavproxy, mav)
-        loiter(mavproxy, mav)
-        land(mavproxy, mav)
+        if not arm_motors(mavproxy):
+            failed = True
+        if not takeoff(mavproxy, mav):
+            failed = True
+        if not fly_square(mavproxy, mav):
+            failed = True
+        if not loiter(mavproxy, mav):
+            failed = True
+        if not land(mavproxy, mav):
+            failed = True
         #fly_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt"), height_accuracy=0.2)
-        fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.2)
-        land(mavproxy, mav)
-        disarm_motors(mavproxy)
+        if not fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.5, target_altitude=10):
+            failed = True
+        if not land(mavproxy, mav):
+            failed = True
+        if not disarm_motors(mavproxy):
+            failed = True
     except pexpect.TIMEOUT, e:
         failed = True
 
diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index d0acc02ada..3f834ebdb1 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -222,16 +222,16 @@ def run_tests(steps):
                 print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
                 passed = False
                 failed.append(step)
-                results.add(step, "FAILED", time.time() - t1)
+                results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
                 continue
         except Exception, msg:
             passed = False
             failed.append(step)
             print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
             traceback.print_exc(file=sys.stdout)
-            results.add(step, "FAILED", time.time() - t1)
+            results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
             pass
-        results.add(step, "PASSED", time.time() - t1)
+        results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1)
         print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
     if not passed:
         print("FAILED %u tests: %s" % (len(failed), failed))
@@ -244,9 +244,11 @@ def run_tests(steps):
     results.addfile('ArduPlane build log', 'ArduPlane.txt')
     results.addfile('ArduPlane code size', 'ArduPlane.sizes.txt')
     results.addfile('ArduPlane stack sizes', 'ArduPlane.framesizes.txt')
+    results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
     results.addfile('ArduCopter build log', 'ArduCopter.txt')
     results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
     results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')
+    results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
 
     write_webresults(results)
 
diff --git a/Tools/autotest/util.py b/Tools/autotest/util.py
index df721ae68e..e9e4ff99d6 100644
--- a/Tools/autotest/util.py
+++ b/Tools/autotest/util.py
@@ -106,11 +106,12 @@ def start_SIL(atype, valgrind=False, wipe=False, CLI=False):
     return ret
 
 def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
+                       fgrate=200,
                        options=None, logfile=sys.stdout):
     '''launch mavproxy connected to a SIL instance'''
     global close_list
     MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
-    cmd = MAVPROXY + ' --master=%s' % master
+    cmd = MAVPROXY + ' --master=%s --fgrate=%u' % (master, fgrate)
     if setup:
         cmd += ' --setup'
     if aircraft is None:
diff --git a/Tools/autotest/web/css/main.css b/Tools/autotest/web/css/main.css
index 4cb4f2a53f..a9f5f3c735 100644
--- a/Tools/autotest/web/css/main.css
+++ b/Tools/autotest/web/css/main.css
@@ -1,124 +1,132 @@
-@charset "utf-8";
-/* CSS Document */
-
-/* Background-Styles */
-html {
-	overflow-y: scroll;
-	  }
-	  
-body {
-	font-family:Helvetica;
-	margin:0px;
-	padding:0px;
-	background-color: #fff;
-	background-image: url(images/bg.png);
-}
-
-#logo {
-	background-image:url(images/logo.png);
-	background-repeat:no-repeat;
-	height: 120px;
-	width: 420px;
-	-moz-box-shadow: 2px 2px 5px #888;
-	-webkit-box-shadow: 2px 2px 5px #888;
-	box-shadow: 2px 2px 5px #888;
-	background-color: #000;
-}
-  
-h2 {
-	text-shadow: #ccc 0px 1px 0px;
-	text-decoration:none;
-	color:#D14836;
-	padding-top: 0px;
-	padding-right: 5px;
-	padding-bottom: 5px;
-	padding-left: 5px;
-}
-
-#git {
-	background-color: #FFF;
-	font-size: 15px;
-	display: auto;
-	padding: 10px;
-	border: 1px solid #CCC;
-	position: relative;
-	-moz-box-shadow: 2px 2px 5px #888;
-	-webkit-box-shadow: 2px 2px 5px #888;
-	box-shadow: 2px 2px 5px #888;
-}
-
-#git a {
-	color:#00F;
-	font-weight: normal;
-	}
-	
-#git a:hover {
-	color:#D14836;
-}
-
-
-#main {
-	padding-top:0px;
-	min-width: 420px;
-	margin-top: 0;
-	margin-right: auto;
-	margin-bottom: 0;
-	margin-left: auto;
-	padding-right: 20px;
-	padding-bottom: 50px;
-	padding-left: 20px;
-}
-  
-ul#testresults {
-	background-color: #FFF;
-	display: block;
-	padding: 10px;
-	border: 1px solid #CCC;
-	list-style-type: none;
-	position: relative;
-    -moz-box-shadow: 2px 2px 5px #888;
-    -webkit-box-shadow: 2px 2px 5px #888;
-    box-shadow: 2px 2px 5px #888;
-}
-
-ul#testresults li {
-	list-style-type: none;
-	display: block;
-	background-color: #eef1f1;
-	margin: 5px;
-	padding: 5px;
-		}
-
-ul#testlogs {
-	background-color: #FFF;
-	display: block;
-	padding: 10px;
-	border: 1px solid #CCC;
-	list-style-type: none;
-	position: relative;
-    -moz-box-shadow: 2px 2px 5px #888;
-    -webkit-box-shadow: 2px 2px 5px #888;
-    box-shadow: 2px 2px 5px #888;
-}
-
-ul#testlogs li {
-	text-decoration:none;
-	list-style-type: none;
-	display: block;
-	background-color: #eef1f1;
-	margin: 5px;
-	padding: 5px;
-	font-size: 15px;
-		}
-		
-
-ul#testlogs li a {
-	text-decoration:none;
-	color:#8aa19c;
-	font-weight: bold;
-	font-size: 12px;
-	}
-	
-ul#testlogs li a:hover {
-	color:#D14836;
-}
+@charset "utf-8";
+/* CSS Document */
+
+/* Background-Styles */
+html {
+	overflow-y: scroll;
+	  }
+	  
+body {
+	font-family:Helvetica;
+	margin:0px;
+	padding:0px;
+	background-color: #fff;
+	background-image: url(images/bg.png);
+}
+
+#logo {
+	background-image:url(images/logo.png);
+	background-repeat:no-repeat;
+	height: 120px;
+	width: 420px;
+	-moz-box-shadow: 2px 2px 5px #888;
+	-webkit-box-shadow: 2px 2px 5px #888;
+	box-shadow: 2px 2px 5px #888;
+	background-color: #000;
+}
+  
+h2 {
+	text-shadow: #ccc 0px 1px 0px;
+	text-decoration:none;
+	color:#D14836;
+	padding-top: 0px;
+	padding-right: 5px;
+	padding-bottom: 5px;
+	padding-left: 5px;
+}
+
+#git {
+	background-color: #FFF;
+	font-size: 15px;
+	display: auto;
+	padding: 10px;
+	border: 1px solid #CCC;
+	position: relative;
+	-moz-box-shadow: 2px 2px 5px #888;
+	-webkit-box-shadow: 2px 2px 5px #888;
+	box-shadow: 2px 2px 5px #888;
+}
+
+#git a {
+	color:#00F;
+	font-weight: normal;
+	}
+	
+#git a:hover {
+	color:#D14836;
+}
+
+.passed-text {
+	color:green;
+}
+
+.failed-text {
+	color:red;
+}
+
+
+#main {
+	padding-top:0px;
+	min-width: 420px;
+	margin-top: 0;
+	margin-right: auto;
+	margin-bottom: 0;
+	margin-left: auto;
+	padding-right: 20px;
+	padding-bottom: 50px;
+	padding-left: 20px;
+}
+  
+ul#testresults {
+	background-color: #FFF;
+	display: block;
+	padding: 10px;
+	border: 1px solid #CCC;
+	list-style-type: none;
+	position: relative;
+    -moz-box-shadow: 2px 2px 5px #888;
+    -webkit-box-shadow: 2px 2px 5px #888;
+    box-shadow: 2px 2px 5px #888;
+}
+
+ul#testresults li {
+	list-style-type: none;
+	display: block;
+	background-color: #eef1f1;
+	margin: 5px;
+	padding: 5px;
+		}
+
+ul#testlogs {
+	background-color: #FFF;
+	display: block;
+	padding: 10px;
+	border: 1px solid #CCC;
+	list-style-type: none;
+	position: relative;
+    -moz-box-shadow: 2px 2px 5px #888;
+    -webkit-box-shadow: 2px 2px 5px #888;
+    box-shadow: 2px 2px 5px #888;
+}
+
+ul#testlogs li {
+	text-decoration:none;
+	list-style-type: none;
+	display: block;
+	background-color: #eef1f1;
+	margin: 5px;
+	padding: 5px;
+	font-size: 15px;
+		}
+		
+
+ul#testlogs li a {
+	text-decoration:none;
+	color:#8aa19c;
+	font-weight: bold;
+	font-size: 12px;
+	}
+	
+ul#testlogs li a:hover {
+	color:#D14836;
+}