Adhika, Andrei, Arion, Brian, and Will arrived at ACRC around 9:00am to test the revised waypoint guidance algorithm, and to obtain flight data from GPS FASER for Adhika's research. For Thor, a 70x70m and 150x150m square pattern was flown with both the original waypoint guidance algorithm, and the newly revised algorithm. GPS FASER was flown once in manual mode to verify the navigation filter solution and GPS sensor measurements. Once verified, the revised waypoint algorithm was flown with GPS FASER in a 150x150m square, and again in a 600x250m rectangular pattern with limited bank angle and a slower airspeed. All flight ops ran smoothly. Software used for this flight was trunk/Software/FlightCode rev 914 Thor flight 73 consisted of tracking four waypoints separated by 150m in a square pattern. The original waypoint guidance algorithm was used(waypoint_guidance), which tracks a straight line if the next waypoint is too close to the aircraft position so that it cannot be reached by turning towards it. A 150x150m square is large enough that the aircraft will not need to enter this reachability maneuver.
Thor Flight 73.
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