Now I’ve incorporated a second servo into the code and I’m able to control two servos independently with the ATmega32. This is all on a dev-board however and not very useful yet.

For those of you that have hobbied in electronics you know that getting something to work on a dev board is only half the battle. There is a lot that can go wrong between the dev board and a hobby box.

Here again are the steps necessary to get to where I have an autopilot in the RV.

• Control servo with microcontroller
• Control multiple servos with microcontroller
• Incorporate buttons and control servos with microcontroller and package it all
• Incorporate servo into elevator to control the trim tab
• Put entire mechanism into RV-6
• Verify that the trim tab has sufficient control authority (test flights)
• Add servo control to ailerons
• Verify that aileron servo has sufficient control authority (test flights)
• Add sensor package to airplane that interface through microcontroller
• Interface microcontroller with Matlab/Simulink
• Develop control algorithms
• Verify stability of control algorithms
• Gain tuning
• Port control algorithm from Matlab/Simulink to C