I coded the trend-line offsets for the accelerometer last night and have just take Phoebe out into the back garden for a quick sanity check test flight. There was no wind, and very little drift, so the results are a bit inconclusive for the moment (other than no harm was done), but it’s probably worth my while rerunning yesterday’s trend-line tests to get the best values I can.
At the same time, Dave pointed me in the direction of gyro temperature sensitivity too. I’m less concerned about this since the flights are currently short, the gyro is calibrated per flight, and the gyro is only used short term for rapid detection of changes in tilt – longer term, the accelerometer Euler angles take over via the complementary filter. Still, probably worth investigating just in case, if only for longer flight drift.
Finally, Jeremy requested some flight sensor data – I’ve attached the .csv file (Excel can turn this into a spreadsheet) corresponding to one of this morning’s flights. Just leave a comment if you want me to churn out some graphs!