and has nasty, big, pointy teeth!
This live action test shows the drone take-off well under manual control, and then throw itself manically at every piece of furniture it could reach. Luckily due to the restraints fitted onto the test slab (rubber bands), that furniture was a metal table frame. The drone lost the fight. One motor and blade to be replaced, but I knew this would happen so already have spares standing by.
What did I learn? That my various PID settings were out by a factor of 10, and that there was a bug in my code for transitioning between manual take-off and auto-hover which meant the z-axis PID differenial was huge, which was what instigated the giant spikes! From that point on the rest was history! Ouch!