Countdown to CamJam: 3 days left

Today’s aim was to work out how to sort out correct vertical take-off speed / height, combined with reduced drift with a sloped take-off surface.

She’s taking off vertically now, but her vertical scale is out, she rose to 2m+ before attaining hover. ┬áThen I had to kill the flight as she drifted slowly towards the kids’ paddling pool!

The stats show she thinks risen to 1m, suggesting that I’m integrating accelerometer readings incorrectly or rotating the earth axis targets to quad frame wrongly. ┬áVery hard to judge which of these or another issue is the cause.

I’d dearly like to understand this before the CamJam, but time is very much running out.