As you've probably gathered, an autonomous copter doesn't give U much more pilot bandwidth than a manual copter. If 1 person had to fly one of the commercial UAV's with the super complicated ground stations, how much information would they really get from the ground station? Normally, U have a spotter outside shivering while someone else stares at the screen in a van.
Extremely stable weather in the last 48 hours gave U some extremely good sonar performance. Got some attempts at equilibrium tilt with the 3DOF IMU. It's questionable at best. No other issues with the IMU. Pushed the sonar range again.
You've got a 2x2 meter box at 4m of altitude where sonar is most reliable.
Running PICOC in a fork paid off. Had crashes from the return; keyword not being implemented but the copter didn't crash
