First test flight with the new code fusing camera motion with accelerometer motion, and it all just worked; despite a breeze she drifted just a few centimeters during an eight second flight. The flight would have been longer but without a height sensor, Zoe descended ever so slowly during flight, and I had to kill the flight before she clipped her take-off cube and damaged her props!
I’ve double checked the stats, and they prove clearly the camera was feeding into the horizontal distance mix as shown by these spikes – just a bit of tuning required here to level them out.
Next step is to take a video so you can see for yourselves! But that’s for another day, I’m too high on adrenaline to risk another!
Here’s her and her new rainbow ‘runway’:
I need to do a bit more testing, then I’ll update the code on GitHub.