[Lyle] sent in some of his work with mini-copters. This rig was built to test control methods with his mini-copter UAV. I’m hoping that some attention here will get him to document a bit of his home testing for us. (He’s working on some bigger systems professionally, so I’m not sure if he will.) The test rig uses an IR camera to measure pitch, yaw and three dimensional positioning 120 times a second.