I wonder how useful the Lunar Lander Challenge was in being a trailblazer. Here's one of Masten Space's 2009 flights. Rock solid transfer from one pad to another, with a 90 second hover. They had hired a guy from Draper Labs to do the control code and won, snatching the big price from Armadillo. Impressive control. http://www.youtube.com/watch?v=oaXW5TaFwAE