the 2m squared flight tracked with fused IMU, LiDAR and Video…

against GPS:

The vertical axis for fusion is the height in meters; for the GPS, it’s the number of satellites. This is complete garbage; a standard chart shows more clearly what’s happening:

The difference between the 1st and 2nd GPS has an error of roughly -27 by -11 meters after which, every following dot seems to be a combination of the square tracking combined with some sort of settling which slowly removes the error initial -27 by -11 error. It’s time I did more investigation into how to handle a GPS warm-boot.