Today the circuit is assembed except for the SF30-B module. I want to be rested when I check the wiring again for a third time. Really, really don't want to fry my $450 sensor. But the motors, SD card, Bluetooth, and microcontroller all work. Thanks to a local friend Tim from the local hackerspace who pointed out that I was driving my Yaw motor too fast and that's why it wasn't working. I think the pitch motor can still go 50% faster (test required). GitHub has been updated, but lots of small details left to complete the code.

Took a boring video, but you can glance at it for 10 seconds to see it doing it's thing. I turn the scanRoom function on with bluetooth and it starts running. It's running at just over 1 cycle per second. Video was with a handheld cell phone. Hard to tell much. More videos once I connect the SF30 tomorrow.