Tyr (Flight 1): Tyr flight data from 20140304 Main purpose: Flight test to check if Tyr was built correctly and performs similar to Thor. Details: Doublets on phi and theta Tyr (Flight 2): Tyr flight data from 20140304 Main purpose: Flight test to check if Tyr was built correctly and performs similar to Thor. Details:Air data circle, didn't work as expected. Tyr (Flight 3): Tyr flight data from 20140304 Main purpose: Flight test to check if Tyr was built correctly and performs similar to Thor. Details: Attempt air data circle to check airspeed biases in pitot, didn't work as expected Tyr (Flight 4): Tyr flight data from 20140310 Main purpose: Flight test to check if Tyr was built correctly and performs similar to Thor. Details: Better attempt at air data circle with new software, 25 degree bank, worked well Tyr (Flight 5): Tyr flight data from 20140310 Main purpose: Flight test to check if Tyr was built correctly and performs similar to Thor. Details: straight and level flight, the trims appeared pretty good visually Tyr (Flight 6): Tyr flight data from 20140606. Main purpose: testing and debugging AHRS and DR. Details: Timing advance, AHRS, and Dead-Reckoning data collected towards cell based navigation. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 7): Tyr flight data from 20140606. Main purpose: testing and debugging AHRS and DR. Details: Timing advance, AHRS, and Dead-Reckoning data collected towards cell based navigation. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 8): Tyr flight data from 20140606. Main purpose: testing and debugging AHRS and DR. Details: Timing advance, AHRS, and Dead-Reckoning data collected towards cell based navigation. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 9): Tyr flight data from 20140606. Main purpose: testing and debugging AHRS and DR. Details: Timing advance, AHRS, and Dead-Reckoning data collected towards cell based navigation. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 10): Tyr flight data from 20140606. Main purpose: testing and debugging AHRS and DR. Details: Timing advance, AHRS, and Dead-Reckoning data collected towards cell based navigation. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 11): Tyr flight data for cell phone navigation research from 20140620. Main purpose: Collect Cell Phone Timing Advance and RSSI data in flight Details: Using original waypoint navigation box (autopilot on sets initial lat, lon). Works well. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 12): Tyr flight data for cell phone navigation research from 20140620. Main purpose: Collect Cell Phone Timing Advance and RSSI data in flight Details: Modified waypoint navigation (hard-coded lat, lon for start of the waypoint box). Works well. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 13): Tyr flight data for cell phone navigation research from 20140620. Main purpose: Collect Cell Phone Timing Advance and RSSI data in flight Details: Using hard-coded lat, lon to start box. Make large waypoint box to cover complete COA airspace. Works well. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 14): Tyr flight data for cell phone navigation research from 20140620. Main purpose: Collect Cell Phone Timing Advance and RSSI data in flight Details: Using hard-coded lat, lon to start box. Make grid pattern to collect RSSI over entire COA airspace. RSSI data not very reliable/differentiable from location to location. Good TA data. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 15): Tyr flight data for cell phone navigation research from 20140620. Main purpose: Collect Cell Phone Telit data to see if third-party service provides good position information Details: Telit data underwhelming and relatively useless. 15state_EKF_quat used as main navigation filter providing estimates to guidance and control loops. AHRS and DR running in background for verification and validation of bug fixes. Tyr (Flight 16): Tyr cell navigation flight data from 20140703. Main purpose: Use AHRS-DR as navigation filter providing estimates to guidance and control loop. Details: Waypoint box guidance. Works well. Collected TA and RSSI data. Tyr (Flight 17): Tyr cell navigation flight data from 20140703. Main purpose: Use AHRS-DR as navigation filter providing estimates to guidance and control loop. Details: Waypoint box guidance. Works well. Collected TA and RSSI data. Tyr (Flight 18): Tyr cell navigation flight data from 20140703. Main purpose: Use AHRS-DR as navigation filter providing estimates to guidance and control loop. Details: Waypoint box guidance. Works well. Collected TA and RSSI data. Tyr (Flight 19): Tyr cell navigation flight data from 20140717 Main purpose: Check AHRS-DR functions. Attempt to get final cell navigation data for reports. Details: Tyr (Flight 20): Tyr cell navigation flight data from 20140717 Main purpose: Collected TA data and check AHRS-DR functions. Attempt to get final cell navigation data for reports. Details: Un-aided DR controlling/guiding aircraft during waypoint guidance box Tyr (Flight 21): Tyr cell navigation flight data from 20140717 Main purpose: Collected TA data and check AHRS-DR functions. Attempt to get final cell navigation data for reports. Details: Not working as expected. Tyr (Flight 22): Tyr cell navigation flight data from 20140717 Main purpose: Collected TA data and check AHRS-DR functions. Attempt to get final cell navigation data for reports. Details: Not working as expected. Tyr (Flight 23): Tyr cell navigation flight data from 20140717 Main purpose: Collected TA data and check AHRS-DR functions. Attempt to get final cell navigation data for reports. Details: Received errorneous GPS data after initialization. Caused divergence of filters. End attempts and went back to debug code. Tyr (Flight 24): Tyr cell navigation flight data from 20140731 Main purpose: Final Cell Phone Navigation data to be used for final reports. Un-aided Dead Reckoning data. Also check if we're comfortable moving box further out (800 meters in follow-on flights) Details: waypoint guidance is the spoon route includes 1.5 circuits of a box at 600 meters from home AHRS_6_DR_11 is the test nav filter and is the guiding and controlling filter 15state_quat is the reference filter GPS outage will begin at 7th waypoint bringing the aircraft back home after flying Wind: light and variable mainly out of the south. Tyr (Flight 25): Tyr cell navigation flight data from 20140731 Main purpose: Final Cell Phone Navigation data to be used for final reports. Cell Phone-aided Dead Reckoning data Details: waypoint guidance is the spoon route includes 1.5 circuits of a box at 800 meters from home AHRS_6_DR_11_TAEKF is the test nav filter and is the guiding and controlling filter 15state_quat is the reference filter GPS outage will begin at 7th waypoint bringing the aircraft back home after flying Wind: light and variable mainly out of the south. Tyr (Flight 26): Tyr cell navigation flight data from 20140731 Main purpose: Final Cell Phone Navigation data to be used for final reports. Un-aided Dead Reckoning data Details: waypoint guidance is the spoon route which includes 1.5 circuits of a box at 800 meters from home AHRS_6_DR_11 is the test nav filter and is the guiding and controlling filter 15state_quat is the reference filter GPS outage begins at 7th waypoint bringing the aircraft back home after flying Wind: light and variable mainly out of the south.