Taylor, Brian2015-09-082015-09-082012-08-21https://hdl.handle.net/11299/174346Thor flight 68 consisted of visual range test, and a parametrized sinusoidal waypoint tracking pattern. The range test was to determine how far away we can set waypoints while the pilot is still comfortable taking the airplane if something were to go wrong. The sinusoidal test was to test a different kind of waypoint tracking capability. The amplitude of the sinusoids was 20m. The airplane tracked the pattern to +/- 2m, which is actually in the noise of the GPS measurements. Thus, the airplane performed very well. Software modules used were heading_tracker_BP, EKF_15state,path_track Thor Flight 68 Rx Data: A043, L999, F000, H000en-USThor FlightACRCAnokaSquareWaypointGuidanceHeadingTrackingEKFDataset