Testing return home:
The code allows me to override the feature with stick inputs which are outside of the deadzone. This lets me to take the unit anywhere in the park without touching the GPS and the moment I release the stick, return home initiates. After returning home, GPS hold initiates.
After 2:40 minute mark the GPS hold, return home, Mag and Baro features are on. Whenever it is moving away from me I am controlling the action. Then I release the stick and it comes back. There was only one occasion where it got too high and I had to bring it down before initiating return home again.
The part that kinda puzzles me is that, even though the code lets me decide the direction the unit faces while returning home, it is not consistent in directions. When I initiated return home at at the west of the home point, it came back tail in first. When I initiated it at the east, it came in with head first. When I booted it up, it was facing west, so I guess that was the reason. Whenever it returned home, it makes sure that it faces the original takeoff direction, which is pretty cool.
This time I used new batteries instead of my old beaten batteries. I flew it for 6:30 minutes and used %73 of the juice, which gives me 9 minutes theoretical and over 8 minutes practical flight time. Pretty good.
Now I will get it in shape in the current format and start working on some IR sensors to do some more fun stuff
https://www.youtube.com/watch?v=xPcy...ature=youtu.be
https://www.youtube.com/watch?v=xPcyqSmwiCo&feature=youtu.be