Vehicle control
Fins: Four Airfoil fins, computer generated to a NACA
0012 design profile, are used for the basic control of Yaw, Pitch
and Roll. These control surfaces are independently driven by
four linear actuators, to allow the vehicle control software to
split the vertical and horizontal planes for active attitude
compensation of varying amounts of roll tendency induced by
the propeller at different speeds. This ‘active roll
compensation’ is a feature of the mission control software,
based on input from 3-axis accerometers contained in the digital
heading compass/ attitude sensor