Yesterday, I added an Eltec 442-3 pyroelectric sensor. It is great at detecting people and dogs at a pretty good distance. Candles are a bit different. It seems the best I could get it to detect that candle was about 18 inches. This might improve within the confines of the Trinity house.
Began development of subsumption architectire for the kanati class. Currently have three levels implemented. Still need to smooth things out os that the different functions can be performed without slowing down the movement. Mostly this will involve a kind of multitasking some of the levels. Since the Javelin Stamp doens not really support this, it will be simulated on board.
in the meantime, Sparky, our dog, is having fun playing with K1 as K1 chases it around the house at crawling speed.