Phoebe’s Playtime in the Park

I took Phoebe down to the local play park to try some extended flights without the risk of her crashing into solid objects – I’m on my last set of props and I really can’t afford to keep replacing them several times a month.

Anyway, net of the flights was she’s good for a few seconds as shown in yesterday’s video, but extending the hover time to 10s from yesterday’s 4 shown accelerating drift.

Best guess is longer term accuracy of angles using just integrated gyro reading, and I need to reintroduce the complementary filter to merge in the angles from the accelerometer to provide longer term stability.

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