Dear Steve , i don't have a big background in tuning LQR control system i have been reading a lot, but i don't find a book/web where teach you tecniques to chose the Q matrix and the P, and i like to add to the gelway a second control loop wich calculate the pwm offset to mantein the gelway in a desired body yaw angle, for make more easy the navegation. can you help me to calculate that ?.

best regards

Philip