Mon 30 Jan 2012 23:01:48 EST

 NOTES

    * Both these firmware images fit inside 128k
      interesting debug and data logging is removed for this to fit in 128k.

    * I have not tested the firmware on anything other than APM2 hardware
      but see no reason why they won't work in HIL mode on APM1 / MegaOilpan

    * Flashing this firmware will ERASE your EEPROM values and replace them
      with DEFAULTS

    * To get flying on X-Plane

      I assume you are already familiar with connecting and flying HIL+XPlane

      1. Configuration of this firmware

      The most important thing to change is the UAV_PRESET value

        0:  user defined (changes to UAV_ values are used)
    
    Other values set all UAV_ values. Write the PRESET value, then REFRESH to see
    what numbers are changed. You should start with a preset.

        1:  touchy fast RC like the X-plane GP-60
        2:  slower stable RC like the X-plane Bixler
        3:  JSBSim Rascal, fast but low gain surfaces, roll rates need controlling
        20: Responsive GA plane
        21: X-plane Cessna 172sp
        22: X-plane Cirrus (not tested)
        30: Heavy eg boeing (not tested)

     Also vital is to change the CRUISE SPEED to a realistic cruise value!

     RC plane -- eg ~20 to 30 m/s for the GP60
     Cessna -- 45.0 50.0

    * What to test

       Take off in manual mode then switch to LOITER or RTL
       Use "Fly to Here" to make the plane fly somewhere, it will loiter when it gets there.
       Use "Fly to Here" and observe the roll out.. Does it roll to gain the green line without
       over-shooting? if it cannot roll to a bearing smoothly, UAV_AILERON_* values are incorrect
       and the navigation will not work well.

    * Try a mission plan, TAKEOFF and LAND are valid waypoints

      Some modifications to mission may not be reflected in flight, this is due to limited 
      caching in this firmware. If changes appear to be ignored, disconnect and reconnect to be sure.
      (this is on the to-fix list)

      The LAND waypoint is the attempted touchdown point

      The approach will be along the line from the prior waypoint to LAND

      A missed approach (too high, off track etc) causes an RTL

      After landing, autopilot stays in AUTO mode but is held in a zero-throttle failsafe

    * Try FBW-A or FBW-B modes, or STABILIZE mode

    * Put in some wind in the sim, see if the plane attains tracks, flies with sideways attitude
      and loiters with varying bank.

    * Try GEOFENCE (actually I have not tried this)

    Have fun.