"Great write up, thanks! One approach I've had good success with is using the EKF attitude to calibrate the compass. This is also not perfect, but allows you to calibrate from actual flight data which your electrical motors running at their nominal…"

"Matthew, if this is at all interesting to you I would offer to run one of your flight data sets through my hud rendering system to see what happens.  Essentially what I do is mount an action cam somewhere on the airplane with as much of a clear view…"

"The UMN 15-state EKF requires changes in velocity (from the perspective of the gps) in order to for the heading to converge without mags.  It really works well for fixed wing flight (higher dynamic motion.)  For quads that spend much of their time…"

"Hi Matthew,
Nice explanation of the important issues with our UAV sensors.
I work for Prof. Gebre (listed in your references) at the U of MN UAV lab.  For attitude determination we primarily fly a 15-state ekf he published a few years back.  This…"

"Impressive work.  Making something like this entirely water proof is very challenging!"

"Assuming apm/px4 is running their ekf with a 10hz gps, those systems only have to coast on IMU for about 1/10 of a second between corrections.  I know vibration can cause weird things to happen, but outside of that, the big driver of attitude error…"

"We had a similar experience with the pitot tube as well.  A bit surprising maybe, but the water has trouble forcing it's way very far in.  Our experience with flipping upside down was in about 25kt winds and fairly heavy swells was our flying wing…"

"I remember a georgia tech paper from years before the DIY drone movement started where someone built an autonomous self navigating aircraft around a 1hz gps.  It doesn't take much to get an airplane self navigating around the sky.  So yes, accuracy,…"

"Haha, that's awesome!  It turns out you don't need much to get an drone around the sky, but I don't think most people realize how inaccurate their hobby grade systems can be."

"Cool, yes, you really need to be able to submerge the plane because it will get splashed by big waves, flipped upside down by the wind, will get run over by your boat, and every other possible thing you could imagine will happen.  Our plane had a…"

"In a past life I helped with a marine uav project.  I'm curious if you have any observations on how well the waterproofing works on this aircraft?  Can it carry and protect a larger camera (like a digital mirrorless type?)  How many dunks in…"

"Hi Tiziano, thanks for the kind words.  Just to clarify: this video was created after the flight completed.  I combine raw action cam footage with a HUD overlay.  The HUD is generated directly from the flight data log.  I have a collection of…"

"Hi Tiziano, thanks for making your videos!  Aruco markers are amazingly cool!  Here's one of my best precision landings flown with an x-uav talon): https://www.youtube.com/watch?v=Su3sL4JhcQc
Sorry, I didn't use aruco markers for any of this ... but…"

"If a community explains their expectations and purpose of their forum, but someone continues to defy those expectations and requests over the course of months, then it really does put the community in a tough spot.  It's not about democracy or…"

"Hi Patrick,
Hopefully you don't mind me asking a pocketbeagle question?  Are you using /dev/ttyS2 in your system?  I have ttyS4 working great on my pocketbeagle, but I've been trying all day to get ttyS2 to talk with zero luck.  The device driver is…"

"Hi Patrick, ok I do have a couple questions.  Sorry if any of this is stated obviously and I missed it.  How many PWM outputs can the pocketpilot support?  I see 4 obviously for quad copter use, but can you do more than that?  What are you using for…"