Hermione’s proof of the pudding

Here finally is her flying in a stable hover for a long time without rocketing off into space.  Yes, she’s wobbly, but that’s a simple pitch / roll rotation rate PID tune much like I had to do with Zoe.  She’s running the video at 560 x 560 pixels at 10 fps, hence no need for the IKEA play mat.

Finally I can move on to adding the compass and GPS into the mix.

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