"no, it's not a kind of DCM, it's a quaternion,  which uses different maths to the DCM.
Our old code used DCM, when we compared the performance they are very similar, but the quaternion requires fewer calculations."

"Thanks Stephane, we're using quaternions, we actually posted some of the flight code that we're working on here: http://uair.co/content/r10-and-thalamus-full-system-miaden-flights you can take a look if you like."

"Thanks, Zachary, we'll see what happens."

"Thanks for the heads up, Zachary, can I ask what module you used for your iPad?"

"Hi Gary, got an update for you relating to FCC.  Digi have some interesting information for use of the XBee that I think will be useful for everyone here using their products: http://www.digi.com/technology/rf-tips/2007/11
If, however, you are using…"

"Thanks for the comment, Gary, we are contacting the FCC and relevant licensing authorities.  The situation is made complex (but resolution simpler?) since the XBee itself is FCC (et al.) approved, and there's also the issue of the R10 sold in kit…"

"It's an interesting question.  The XBee ZB Pro 2.4GHz has a quoted range of 2 miles (10k feet, 3.2km), but in the EU and other countries that impose a lower transmit power limit, your range is less than this.
Latency of the XBee link itself is very…"

"Ok, here's what you do: always contact us.  We might just be three busy people working out of a garage, but unlike faceless corporations, we'll reply to you and try to help however we can.  Plus you've got personal email addresses of our tech team,…"

"Yes, we did do a lot of optimisation to fit in some of the newer features, perhaps you should take a look at the latest firmware.
We learned a lot from Forebrain/Seraphim, that we're putting in Thalamus, moving the telemetry and gps code to the…"

"Also, I'll have a chat with Henry and see if we can schedule in some development time to get fixed-wing working for you."

"Do you have some external I2C devices on the bus?  And what version of the code are you using?  We've not had any reports of that issue, and it hasn't come up in testing (R10 is flying fine on Forebrain/Seraphim) and we know that I2C under normal…"

"What's wrong?"

"As for fixed wing support, we did have some guys at Imperial College London working on getting Forebrain/Seraphim working in a Bixler, but unfortunately that project ran out of time, so unfortunately you're right, nada at the moment.  Too many…"