After trying to jump to position hold and getting disasterous results, decided nothing can really happen until attitude hold is more stable. The strategy now is to attack tilt rate instead of absolute tilt. We have the first movie of automated cyclic response to tilt rate. At least for nose up and right bank, it seems more like what a human pilot would do. Nose down and left bank don't seem to work as well.

Cyclic response (1 min 21 sec)

Lost the PIC bootloader again, even after updating the solder joints. Fortunately, the PIC hardware has been flawless for weeks.

Hey Jack ,I have no sound on the Youtube link,was that intentional??

Don..

What's there to listen to? All you can hear in this dumpy apartment are cooling fans.