"Randy is correct in that the best possible solution is to close the loop in the ESCs.  However, if that is not possible, then it is possible to model the motor's setpoint change performance and create an open loop controller that is tuned to…"

"Lorenz: Mr Crossfire was the original author of the improved SAD assembly code :)

Jack: Fuse the reported optical position changes (not the reported velocity) and height measurements with the baro, ACC & GYO sensors' and you should then be able to…"

"Larger motors means larger cogging effect.  What you want are "slotless" motors."

"As I said earlier the data shown in the KML are raw LAT/LON coordinates recoded from the UBlox module.  We seem to getting back to the outside observer requirement rather quickly :)

I think that you will soon find out that there is more to…"

"Randy: Actually no.  Steve presented two 3D plots, both of them showing the actual LAT/LON reported by the GPS module.  One was showing the GPS reported altitude and the better one reported the barometer estimated altitude.  I'm not sure what Larry…"

"I own a Dranganfly.  Its performance is below everything I've seen here.

I agree that such observation is not needed in this case if all of the contestants have shown themselves.  But what happens if there are other AQ entries, or some other evenly…"

"Randy: AutoQuad, not AeroQuad.  Two different beasts."

"R_Lefebvre:  The altitude the GPS reports is what the GPS module thinks the altitude is, not the actual altitude. Just as the pressure sensor derived altitude is not the true altitude.

Unless / until you have a trusted 3rd party observation of the…"

"Alexey: Initially I was also concerned about this, but it turns out not to be a problem for a few reasons.  First, shortly after takeoff the filter learns what the acc biases are and quickly realizes that their variance is quite low so their…"

"Don't know what he's using, but I've been using RCTimer 5010 360Kv motors with RCTimer 15x5.5" CF props with a minimum of 4S."

"This is no hoax.  Victor uses a flight controller of his own design running a modified version of AQv6 firmware.  Dropping spent batteries is of course what makes this demo possible.  However, getting long flight times without ditching is possible.…"

"Can't speak for other controllers, but one of the most difficult jobs of the software for sensorless, brushless, DC motors is to accurately detect phase zero crossings.  During fast acceleration, the back EMF waveforms can get very distorted and if…"

"Yes, the angle PID's target is the desired angle and the rate PID's target is 0.  There is typically no P or I terms for the rate PID, only D, so it is only really fighting to maintain a 0 *change* in rate, not necessarily a 0 rate."

"Joe: It's probably best to ask these sorts of questions on the AQ forum."

"beatforever: Based on your simple comment, you seem to be the perfect example of a person who should not get involved with the AQ project.  Thank you for illustrating an important point."

"Roberto: If your board has a SWD or JTAG connector, it could simplify my testing of the digital gyros and I'll take you up on your offer.

As an aside, it might not be too difficult to port AQ firmware to your board.  I have already started to break…"