For my final year project at uni, were designing an underwater glider. the glider works by buoyancy changes with an internal pump and ballast which causes a saw tooth motion. Yaw is controlled via the use of a rudderControl and navigation of the glider is the big problem at the moment because it can only receive a gps signal when it surfaces occasionally, and other wise must travel using dead reckoning i.e. accelerometers/gyros. I stumbled across the website from sparkfun and thought this might be a solution.Does anyone know whether its possible to use the ardupilot mega system (with an gps) to control the navigation of the glider using INS or dead reckoning? it would control yaw with the rudder, and the pitch would be a constant;y varying function (as it travels in a sawtooth motion, so its average height is constant).does any one know if this is achievable with ardupilot mega? and if anyone has any basic idea of what code would need to be edited?any help or advice anyone has would be a great help.thanks
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