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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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Siempre hablamos de si es conveniente anticiparse o no a la toma de rizos en un barco de vela. Cuando navegamos desde la ceñida, pasando por el descuartelar y hasta el través, es primordial aplanar las velas para evitar un exceso de potencia. Para ello tenemos una serie de controles tales como las escotas, los carros de escota, el pajarín, la driza o el cunningham