A 60 seconds hover in preparations for my next GPS tracking flight on Wednesday when the sun will be out:
Weather conditions are poor today: light contrast is low due to thick clouds and the temperature is about 3°C. The code is using the butterworth filter to extract gravity from the accelerometer, and the hover height is set higher at 1.5m to avoid the longer grass in the field next door on Wednesday: takeoff at 50cm/s for 3 seconds to get away from the ground quickly; descent is at 0.25cm/s for 6 seconds for a gentle landing. The aim here is to move the down-facing LiDAR into a zone where it’ll be more accurate / stable vertically, while checking the down-facing video still provides accurate horizontal stability at this higher height, lower contrast lawn surface.
The check has passed well, boding well for Wednesdays GPS field flight!