Someone asked me for pictures. Not only does it fly, but if you ask too
much of it it crashes, too!

http://www.ccwebster.net/robintim/cap_232/cap232.html

--

Tim Wescott
Wescott Design Services
http://www.wescottdesign.com

Do you need to implement control loops in software?
"Applied Control Theory for Embedded Systems" gives you just what it says.
See details at http://www.wescottdesign.com/actfes/actfes.html