Microminiature accelerometers are really cheap and very very light, and you don't have to wait for them to spin up or deal with their mechanical issues. I doubt you will see a gyro used as a sensor any longer.

Similarly, computers make good active stabilization possible and steering your engine to stabilize is a lot lighter than having to add a big rotating mass.

When you last flew a jet somewhere, why wasn't it a seaplane? Surely such things would be an easier problem to solve than building airports.

Short of giving you the starter course in rocket engineering, I can only say no, it's not easier.

The booster can indeed make it back uprange to Kennedy Space Center, and they've leased a landing pad for it there. Besides the turn-around burn, they tilt the booster against the airstream and let aerodynamics push it back uprange during that 78 mile descent.

If there's one thing they should work on, it's not thrusters but having the capability to throttle to hover. That would potentially change the entire low approach. It is complicated by the fact that engine performance goes nonlinear in the low range.

Here is the barge on the way to port, possibly with debris onboard. Here's a video of the landing shot from the barge itself. And I am waiting to see the barge from the Carnival Fascination webcam.

A video from the barge is now online here. If you step through the final frames, you can see that the camera mount ends up knocked over and pointing at the ocean, but the lens and its cover are unbroken and all we see flying appear to be small debris. So not a really high-pressure event.

It's very tempting to think this should work like an airplane. Lots of people wrote that it was "too hot", etc. But it isn't an airplane. The plan was really to approach at 1/4 Kilometer Per Second, then brake at the very last second.

Obviously Crew Dragon, which carries people, will approach differently. But it's a lot lighter.

In the F9R test videos they catch some of the backscatter from the engine and seem to catch fire. Maybe they were trying to avoid that. They are very light carbon composite. Or perhaps they mess up the airstream for precision navigation, or they don't like the 250 m/s wind.

It looked to me that the barge was structurally undamaged but that some heavy equipment on the deck was forcibly ejected. It's clear to see in the HD version. Those 1000 HP thrusters are expensive, and it looked to me like one of them going overboard. But I suspect they were prepared to lose more than one vessel in testing this.

And I bet there was a range safety self-destruct charge onboard. F9R blew itself up with one. But it was probably so safe that it didn't go off.

Remember the reporters asking what was holding DC-X up? They couldn't see the rocket exhaust.

I sneaked inside of the Rotary Rocket the last time I was in Mojave. Someone left the bottom hatch ajar. But there wasn't a way to climb up to the cockpit from in there. Lots of pigeon droppings and it's used to hold the equipment for the multimedia kiosk nearby. Sad to see.

I learned an important lesson from Open Source, and it applies to SpaceX too: Things work a lot better if you just give the engineers the freedom to do engineering.

I think that in government projects and in most larger companies we tend to devalue the technical people in favor of the nontechnical. And we don't give them much power to actually run things. And then we wonder why efficiency is so low.

It has certainly given me ideas for how to run my own company.

Yes, but what engine were they flying in F9R and Grasshopper? Both of those were lighted up for the entire flight and didn't bounce around.

So why wasn't the landing barge designed with several pairs of masts or arms that would remain extended outward from the platform edges at a low angle, say 30 degrees, and then, once the rocket reaches a certain altitude, quickly raise on hinges to lean into the center and wrap the rocket in strong nets of webbing strung between them?

Wouldn't that go a long way toward safely keeping the vehicle in the vertical without being overly dependent on the small maneuvering thrusters?