the simple made hard

As another day passes without any flights, it's another delay, another setback. This time, glitches in the IMU readout. The A/D converters were running too fast for the PIC to handle the data + the new rate damping code, so the IMU sampling had to go from 1600Hz to 800Hz. That broke rate damping.

The effect was an A/D interrupt handler getting 2 pins ahead of the A/D buffer handler, accelerometer readouts going into gyro slots, very hard to track down.

Not long ago, dreamed we achieved the wealth & power to own a 9' Steinway, but not the $3 million for the square footage to put it in, so hatched the ingenious strategy of putting it deep in a forest where no-one would hear it.

Sure enough, someone found a piano deep in a forest. Maybe it belonged to someone in the same situation. Maybe a renter who could afford the $3000/month for rent & the $5000 for an accoustic piano, but not the $5 million for a house, faced with the prospect of having his 401k confiscated for the common good, decided now or never & made a forest practice room. Unfortunately, U can't use forests as practice rooms in an age of taxpayers funding $100 million houses, so it was impounded.

http://www.cnn.com/2008/US/11/23/mas...ano/index.html