"Software in the Loop (SITL) simulation provided by APM is a good suggestion. However, it takes time to understand the code and modified the parameters if you want to make the simulated model as close as the real one.
As mentioned by Gustav, since…"

"'falied' every time. In your case, I have never met that situation. I think you should change the offset and the scale values back to their default to see if it can fix that problem."

"Somehow my values are not even converging, as I mentioned before. However I decided to carry on, as long as the values when the system in level are good enough (nearly 0 for both pitch and roll)"

"What kind of connection are you using, TCP or USB port ? In fact, FlyMaple cannot connect with Mission Planner via SerialUSB, or at least I cannot find out a way to do that... The only way I know is via Wi-Fi (TCP). If you want to communicate with…"

"Yes, it looks good with the HUD. The AHRS_ORIENTATION is Yaw45 and the HUD responses exactly the way that I want it to.
Because I have no experience with other board, are the values ok ? I tried five times and the values were very close with those…"

"Hello Race,
I am also a new guy here so I am not sure if my answer is right. Your project sounds great, but as the other said, it is a difficult one. In theory, it can be done. Programming the drone to follow the flight plan is easy, everything is…"

"Thank you for your reply,
It is true that FlyMaple is a bit underpowered, as you said, however, so far so good with it and I think I will keep playing around with it. Anyway, I haven't tested the whole system in real fly, I hope that I can do that…"