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But I'd like your endorsement to upload, yes. You might find the change-log amusing in and of itself. I've been keeping a document on the side in Notepad++ and I'm pretty sure this is two pages long.
Did I give approval for uploading modded one ?
I had to go rip huge chunks of the FCS for the AW-101 Merlin, and then rehash it to fit the microcontroller in the CH-53, but I've got it flying and stable. Now I just have to tune in some of the parameters so it's properly responsive, and adjust the alterations I made to the vehicle. Maybe fit a few more features in if there's enough space for a few more small micros.
The Microcontroller that got shoved into it is not a helicopter controller, but rather a fixed-wing autopilot control block that got jury-rigged to try and control it.
Full size post trimmed to less than 1000 chars, I'm working on it.