Zoe now has her new PCB, a Garmin LiDAR-Lite and camera. Initial tests aren’t showing any of the I2C, FIFO or power black-outs. The first test with the motor-power disengaged is to check the combination of video vectors, height and yaw.
So standing in the center of the lounge, I held Zoe at arms length and rotated her around in a few circles where she was always facing the direction she was going; the video output processing averages out yaw thus only produces linear movement; the yaw is reinstated from the gyro:
The lighting in the lounge wasn’t bright, and the rug she pirouetted around was low contrast but heavily textured. She ‘landed’ at the same spot she took off from. Overall I call this a success – 0.75 meters drift error over a 36 second flight is amazing!
Next step: power up the motors and take her for a flight outside, probably tomorrow when the torrential rain and 42mph winds subside. The question here is whether the errors come back once she’s powered by the LiPo via a 5V 1,5A switching regulator.