a flight worth videoing:
Flight controls were 3 seconds ascent to 1m, 5 seconds hover and then 3 seconds descent.
Inner PIDs are good; she was stable not wobbling or jiggling throughout the flight.
Takeoff was at a bit of an angle due to one of her legs being stuck in the mud, but once the complementary filter started to be dominated by the accelerometer data, she corrected herself to a pure horizontal hover.
Not quite sure yet about the drift back after that – there was zero wind, so I wonder whether somewhere, there’s an integral that’s over-enthusiastic.