The test held the vehicle upright for several seconds, then shifted the set-point on the X and Y axes to -7 degrees, as a step response test. Response was acceptable, though somewhat poor, and can easily be improved by giving the PID controller separate tunings for aggressive and smooth response. This test also validated the solution to the error experienced during the Series D hold down. The error and solution will be discussed in detail here: https://www.patreon.com/barnardpropulsion For more info: https://twitter.com/joebarnard http://www.bps.space