I changed the wiring by putting the rudder servo on the aileron output of the APM board, reset it, reprogrammed it and uploaded a flight plan. When I got to creamers field I got it all set up and sent it up, flew it quite aways off, set it to RTL and to my excitement it slowly turned around and returned, then circled above. After uploading a new flight plan I got it to fly its course. So I brought it back, attached the camera and uploaded another plan and took these photos.
|Dad and I next to my truck|
|Creamers Field barn|
|Tree I almost hit|
|Clay's old house|
|Residential area of Fairbanks|
I did have a close call and it is not at 100% but today was a big improvement over the circles. When flying over the barn the plane stared to loose altitude and came very close to a tree. It was so far away I could hardly see it and luckily RTL brought it back. I did crash on landing breaking the camera "skid plate" and tarnishing the otherwise great flight, but that was my fault.
I also think that it's descent was because I didn't check all the altitudes or there was a conflict in the route that caused it to dive, either way it can be fixed with better flight plans.
I will also be much more comfortable when the plane has its FPV (first person video- live camera that transmits to the ground giving you a point of view from the "cockpit" of the plane) camera so I can really see where it is going.