If all goes well we will do a tethered hover this weekend. We have worked on this for close to two years. This weekends test comes with a good bit of fear, not physical fear, but emotional fear, its hard to work on a complicated project for this long and not have a million small doubts.
One could always wish for another 6 months to test everything 9 ways from sunday, but eventually you have to give it a try. The helicopter is almost exactly flying the hover test profile we want to fly. I’m a little concerned that we don’t know the exact gains for the throttle valve so I’m going to do a test of the helicopter where the software attempts to learn the helicopters collective gains in real time in flight. I’ll use this on the vehicle. (Update Thursday mornings helicopter gain test worked as planned)