Taylor, Brian2014-07-292014-07-292014-07-29https://hdl.handle.net/11299/164266Thor flight 59 was a series of maneuvers conducted using the baseline controller to compare to the next level controller which tracks altitude and airspeed. It involved approximate 180 degree turns at a 45 degree bank, six-second doublets, and 45 degree constant banks. During the 45 degree bank spirals, the airplane lost about 25 meters over 50 seconds. The next flight (60) tested the same maneuvers, but with the altitude/speed tracker as the outer loop. Software modules used were baseline_control, baseline_valid, EKF_15stateThorFlightAnokaACRCControlBaselineBanksDoubletsEKFOther