Clearly, there’s work to do, but at least she took off, and didn’t soar into the stratosphere!
A couple of post-post comments:
- This does confirm that LEDDAR works well in sunlight with a very speckled (grass) surface to bounce its IR LED light off.
- It turns out the LiPo needed charging – I’ve previously found low-charge LiPos do result in more wobbly flights with these high pitch CF props
Forgotten this final point but I’ll update the post when I remember!Ah, that’s it – the code is still driven by velocities, not distances, so the LEDDAR usage is not guaranteeing height of the ground, but it’s providing vertical velocity stability (differentiated from the distance / timestamp changes) for the integrated (and therefore drifting) vertical velocity from the accelerometer.