Taylor, Brian2014-07-292014-07-292014-07-29https://hdl.handle.net/11299/164268Thor flight 61 tested the psi tracker performance. The test included 180 degree turns, and rectangular patterns. The controller performed very well, tracking to within +/- 5 degrees during a 7 knot wind. Software modules used were heading_tracker,psi_commands, EKF_15stateThorFlightAnokaACRCControlHeadingTrackingEKFOther