First complete Kalman output

Recall the mag's X axis showed significantly less gain than the Y & Z. It appears the X axis is the only one directly on top of the power bus. At 5V it must be feeling a lot of current.

Well, we have the magnetometer running about as well as it can. By studying the direction cosine matrix, got it correlating the right tilt angles with the right heading angles. All the matrix does is construct each of the XYZ axes with bits of the other axes, depending on the tilt. For example, X is now a blend of 50% X and 50% Z if she's tilted 45'.

Took a lot of fudging of the autopilot.sourceforge.net code to get useful results. She now gives good 0-360 heading results when level and sometimes for very shallow tilt angles, but even now when Z gets close to parallel with the flux lines, she starts going crazy. It's highly questionable whether she's using the $140 gyro output at all.

With the first intelligable Kalman output in 3 axes, a certain tilt is obviously required for stationary hovering. A second Kalman filter, the position filter, probably needs to be ported before any autonomous operations.

It's a vectorious day at least in the inertial navigation department. The battery department is still in purgatory.