Finally, fusion worth showing.
Yes, height’s a bit variable as she doesn’t accurate height readings below about 20cm.
Yes, it’s a bit jiggery because the scale of the IMU and other sensors aren’t quite in sync.
But fundamentally, it works – nigh on zero drift for 20s. With just the IMU, I couldn’t get this minimal level of drift for more than a few seconds.
Next steps: take her out for a longer, higher flight to really prove how well this is working.