"My university MicroPilot experience was less than stellar, with tech support that was not helpful and over a month trying desperately to get the thing to follow waypoints. Pitch, Roll, Airspeed worked great but we could never tune navigation until…"

"I wonder if combining a PID with airspeed based gain tuning would help, since the pitch response from elevator is a function of airspeed^2. Do you have a link to a CMT for controls explanation?"

"Can you explain or show the code for your airspeed control via elevator? It is a little inderect, since elevator controls pitch, and then pitch control airspeed, but you seem to have gotten great soaring results! How well did it work for you?"