The Larry Project

I finally tracked down the bugs in the subroutine that transforms the GPS outputs to a local flat earth system. It works by first converting laltitude, longitude and altitude into a Cartestian Earth-centered Earth-fixed, then rotating the frame into a local topocentric-horizon system. I can’t even remember what the problem was that made it not work before.

I’ve started coding the guidance, navigation, and control parts of the software. I plan on making a rough framework with unknown constants to fill in as I get calibration curves for the sensors and experimental results for the flight characteristics.