Figure 7.

Data from take-off flight shown in figure 1. In this flight, the ocelli were calibrated to have a larger operating regime. The lower gain avoids actuator saturation and rotatory oscillation. As in figure 1, (a) shows vehicle position, (b) shows a comparison of angular velocity estimates, (c) shows control torque commands, and (d) is a three-dimensional plot of the vehicle trajectory. (Online version in colour.)