Nantucket Sound Testing, Day 3

First thing this morning, we went to get our DSSI thruster fixed at their facility in Falmouth. As we had hoped, there was no damage to the thruster, so they put a new cable on it and we were good to go.


We ran almost nonstop throughout the day, setting up shop on the fly deck so we could get a better view of the vehicle.

That's it, off in the distance.

We made a lot of progress on tuning the PIDs for yaw, although the gains that produce some of our straightest trajectories also produce some of our most spectacular instabilities.


When the mechanical engineers are bored, it means the software engineers are making good progress.