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APMrover -> APMsail

Some of you might have read my blog posts about ny autonomous sailboat. It is now time to implement my control algorithms on the APM. 

My plan is to start with the APMrover code and replace some parts with my code. There are a few changes that i need

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RTL and loiter descent rate

It seems that it I an only hold rather gentle descent rate in loiter.  Otherwise it starts to wobble and flop around.  I suspect that it is simply descending through it's own prop wash and making the accel go nuts. I can control that with the stick,

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Take a look at this log please

A very reliable Hex fell 300 feet today... good thing I was at 400 feet because it recovered...

But I had to fight to get it back...

I am not very good at looking at these logs..

It looks like the throttle input, to the APM, went to zero for a few sec..

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