Is this Autopilot really doing what it is supposed to do?

In order to test the AP i used my Arduino Uno, 3 servo's (representing 2 motors and rudder), a switch to engage the AP and some code to generate and decode PWM signals.

Using the Serial Monitor the reaction of the AP on the rudder and motor PWM signals is shown after flipping Switch-D.

Auto pilot test26nov16 op Youtube

see Downloads for the Arduino Sketch