In a 10 minute slot between 40mph winds and torrential rain, the sun came out and I quickly grabbed a couple of outdoor flights with Zoe running the IMU FIFO code. She passed the primary test by not drifting significantly which means further flights can move indoors. She needs some gyro PID tuning – she’s flying with Phoebe’s defaults – she was see-sawing around the X (roll) axis. She was running at 500Hz sampling with ESC updates at a nominal 100Hz, and she just about kept up with herself.
My hope is that once the Christmas chaos has died down, I can get that tuning done, and show her of on video to the world.