We've now locked out the controls in autopilot mode and are testing operator directed mode. Rudder controls heading. Cyclic controls position. The autopilot is immune to stick noise. The most dangerous part of this is switching back to manual mode. Where exactly was the throttle stick? Flight tests with operator directed mode are as expected, real sloppy.

The most important function in operator directed mode is heading, which she does at the expense of creating huge position oscillations. The neutral tilt has 2 B relearned when heading changes. We can't just rotate a global tilt to copter frame. Without air movement, the neutral tilt in copter frame is always -14' roll, -1' pitch.

Sensitivity 2 wind continues 2 B a problem. All success has been in no wind. Any wind and she loses control. Sudden altitude losses have been more common. We seem 2 have trouble determining vertical acceleration.

The biggest gain may not be an XBee, 600Mhz Gumstix, or new laptop, but better gyros. All roads lead to the gyro drift causing much of the oscillation. Exactly what gyros to get? 300 deg/sec, 150 deg/sec, 75 deg/sec ADXRS, MLX?

Ok jack I'll bite again,what the heck is this thing!!!

What U see is the effect of a long exposure on an aircraft which is lit by LED's. The aircraft can be seen here https://www.rcgroups.com/forums/atta...mentid=1405034

More long exposure images of self illuminated vehicles can be seen here
http://www.spaceflightnow.com/atlas/av011/launch/

Thanks Jack.