This have been flight tested and shall work. Plots: http://logs.uaventure.com/view/tcw4wSjdA88TufVx6chMFn Log: http://logs.uaventure.com/logmuncher/charts/tcw4wSjdA88TufVx6chMFn/logmuncher.log (The airspeed data is unfortunately again rubbish due to problems with the pitot tube but the logging itself shall be fine) Would be great to have it merged as soon as possible so we can do a subtree update and fly it on our system. @LorenzMeier