This works as intended, thank you! I was trying to use a PID to hold the heading, it worked till it got to going south, there it goes from positive to negative and it screwed it up. thanks

Still my favorite for putting on my boats. The complex multi waypoint systems forget you should at times be on watch looking around. This one I set based on current conditions. I can even account for wind drift and towing by aiming slightly off my map waypoint then locking in the heading.

The mc outputs 0 for beeing on the right course (this is true for ships and planes) but for helicopters, you have to add some power to counter the torque of the main rotor. This controller could work when you ADD the yaw-signal from the gyro to the output of the controller: yaw (from seat) to gyro and controller, stabilzed yaw and controller output to an ADD, output from ADD to your fan.

I really like this mc but i cant use it on my helicopter because my heli uses a ducted fan for Yaw and your mc doesnt know how to handle the power of it and makes my heli spin out of control

So i was wondering if its fixable or if it just wont work with ducted fans.

You are right, there was an error in my controller. I fixed it and simplified it. If you want to set autopilot to gps coordinates, i have an extended controller with target mode in my workshop now.

I've made a Heading hold but it always make the longer route from 1 to 359. Can you help me make it turn the shortest length?

The controller calculates the relative bearing to the target, to take the fastest way around.

Will this take the fastest way around? I mean from 002 to 359 its only -3, or +357

Thank, the next module, where the autopilot will be automatically fed with multiple waypoints will follow in the next days.

Nice Job. Works like a Charm