Get back down here! Lessons in prototyping

Flight test went great. Mind you, it took about 3 passes to get the plane back down to the ground - the wind just kept it up in the air for a very long time.

Created a routine to send various values of feedback gain and centering while in flight.  The turn range adapts to the rudder center value.

The plane hit waypoint #1 very quickly but my groundstation was in the car so I did not realize this.  I ended up trying to tune it to hit that waypoint when it was really trying to move on to the next one (duh).

Short story is the waypoint navigation WORKS.

YAY!

If you look at the video you will see 3 waypoints.  The landing guide goes from waypoint #3 to home. You need to fast-forward to the places where there are readings for Ch1 and K1.   This means the Autopilot was engaged.  The first time it navigates to waypoint #1 and then the number changes to 2.  All this time the computer was in the car so I cold not see this happen.  This was the one day I was too lazy to set up my usual table on the field with my computer and radio reciever - ah well, lesson for us short-cut people..Then later on I engage the Autopilot once more and the plane heads straight to waypoint #2 - of course, at this point I think it should be heading for waypoint #1 so I start messing with the gains - as soon as it is about to hit waypoint #2 I reverse the gain and it heads away (another duh) and another lesson? If it ain't broke, don't fix it?

Anyhoo, enjoy the vid.

Just need to fine tune it [the autopilot gains] now. More fun today