"I would guess that he would drive over there and pick it up right when it comes ashore since it might get stolen. Especially if it is a big boat."

"Hi Mitch,
Sorry for the late reply. I don't have any experience with autonomous submarines, but always been fascinated by the idea. You could try searching the internet. If you could get the buoyancy just right it might sit just below the surface…"

"Yes I think it is possible if you use like a 48" catamaran with 8s 20,000 mah batteries. Sailing at night or a submarine would probably be safer. Let us know how it works out"

"Hi Ben,
At least I am not the only one with this problem. After modifying the events.pde file the autopilot was able to safely take control and land from a loss of ground station radio signal when using a joystick. I made the changes a year ago to…"

"Yes, that would be nice. You might have to overpower the other person's transmitter. A 5 watt linear amplifier would probably work for transmitting and you could use a second module for receiving (and two antennas), but it might be worth…"

"30km is very good. I don't feel that I need 30km or 60km of range, but I am more concerned about poor reception when flying low near trees or around hills."

"You guys are right. It should be MHz. I was typing fast and didn't think about it. I read something on the 3dr radio wiki about a company called Shireen that makes a 900mhz bidirectional amplifier with 12dB transmit gain, and 18dB receive gain that…"

"True in most cases, but I have an amateur radio license and I plan on doing it legally like APRS data packets on 440mhz. Amateur handheld transceivers use 440mhz at 5 watts legally and don't interfere with anyone."

"cool. I will try it. The software might require quite a bit of programming work to get a moving map, but hopefully I can modify the APM code to at least get it to display the gps coordinates"

"check the resistance of the 2 fuses. You may have just blown a fuse"

"You mentioned 10m baro drift. That seems like a lot. Did you check what your altitude was when it was loitering instead of rtl? Also check the log for Ntun DPosX and DPosY to see if it was trying to return to the home coordinates."

"Update: I found a solution to the problem. After analyzing the logs I discovered that when the ground station signal is lost the arducopter is trying to switch to an rc radio or reset all of the RCIN values to the minimum like 900 us, so I removed…"