I took Hermione out for a quick flight again in X8 format with her monstrous new LiPo; the I2C I/O error kicked in just before 3.5 seconds, but not before she’d just acquired hover state. The test was driven by just the IMU, but with the Camera and Garmin LiDAR-Lite V3 tracking lateral and vertical distances, and I’m pretty impressed. Compare and contrast these two graphs:
The Garmin height is accurate – the scale difference is due to the accelerometer reading just over 1g on the ground, so based on that and the double integration to get distance, Hermione thinks she’s higher than she is.
The Camera horizontal is pretty good too – I probably just need to turn the gain down a touch.
This bodes well for tomorrow when the capacitors arrive (thanks for the nudge in the right direction, Jean) which should decouple the Garmin power-lines from the I2C lines, and thereby (hopefully) kill the I2C errors.