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Test of the hover controller, in particular in yaw direction (multicopter frame, i.e. roll direction in airplane frame). The yaw is stabilized using the flaperons which are in the propeller wash. The flaperon deflections are visible when Chris pokes the kite with the broom. The controller quickly reacts and stabilizes smoothly the yaw angle back to zero. Note that differential propeller directions as used for small multicopter-drones do not offer nearly enough yaw moment for control authority of the kite's inertia or expected wind loads. In addition, such a control scheme greatly reduces the thrust for yaw stabilization. This is why this is not feasible for our system.
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Après plusieurs mois de navigation, j'arrive enfin sur Ilulissat dans la baie de Disko, au-dessus du cercle polaire arctique. La navigation au Groenland est toujours aussi difficile, mais depuis mon voilier, j'observe les baleines à bosses et les immenses icebergs qui malgré les dangers rendent cette aventure totalement inoubliable.
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