VicaCopter II in daylight

Squeezed in a daylight hover during day job hours. Had a 15 minute window without rain & wind. She did much better at high altitude than low altitude.

Manual heading hold program was pretty awful. It increments the yaw regardless of current state, causing sudden movements & oscillation. Probably need direct stick -> rudder offset. When the stick is outside its dead band, heading hold is turned off & current heading is taken as the target. There's also staying in heading hold mode but taking current angle + fixed offset as the target.