"OMG, bill. Every work you have accomplished is so creative and legendary. As a big fan, I will implement the algorithm in my UAV platform (both 450 heli and easyglider fixed wing) soon and share the results with the whole team.
Many thanks for your kind comments. I am reading your post in detail right now. Will go to realize the code in this week and let you know my result then.
May trouble you a bit more in the implmenentation procedure if you don't mind.