"Harald,
I now remember reading about your earlier problems with the fire brigade ship... my boat is an R/C model from Radio Shack called the Tsunami. I found it at a thrift-store for $15 with a good motor, propeller, and no dings or dents. I removed…"

"Harald, I got the GPS working again, blue fix light is on - but when I switch into autopilot mode, the boat begins going in a figure 8 over and over. I thought the rudder might need reversing, but it did the same thing when I tried.

I tried to…"

"I am using the EM406, and it seemed to connect fine using your code (I also have my Xbee radios set for 9600bps to work with your code, which works well).

I loaded the Ardupilot v1 code, and in a state of confusion, used the Bind plug to try to get…"

"Harald, I commented out the entire R/C control tab and the lines of code that switch between R/C and AP. I will test it later today, but to be clear, are you using a "bind plug" or any other special instructions to get the GPS locked when you first…"

"also, yes I did try the steps on your troubleshooting guide."

"I uploaded the code and modified the Attiny pin 6 (de-soldered it). I loaded 3 waypoints into the code (very short circle path in lake). Once loaded, I turn on the power to the boat and wait for GPS fix. With blue light on, the R/C system begins to…"

"Harald, would you be willing to modify the code to allow the Attiny to control the failsafe?
I am having problems getting your code to work."

"actually, I decided to keep the Attiny controlling the Mux, and control the throttle directly from the R/C Rx... will this affect your other code that is controlling the Rudder?

Basically, I would like the Ardupilot to only control the Rudder to…"

"Harald,
I tried the modification as suggested, by heating pin 6 of the Attiny with my soldering iron, and lifting it up so that it is no longer soldered to the pad - it can still be re-soldered if needed again.

The problem is that after loading…"

"Thank you Harald,
Yes I am using IDE 18 and changing the filename let it compile correctly... thanks again.

And yes, if you have the code for optional R/C control, I would love to try it out. Also, I should be able to safely remove your GPS…"

"Harald,
First off, thanks for sharing your project - I am trying a similar project with a model boat and the Ardupilot, planning GPS guidance around a nearby lake. I will only need a few waypoints to get around the lake, and I have a boat with…"