Jerome , “Milestone: achieved short flight , stabilized Yaw, still not stable on Roll/Pitch” – it means the quad is stable on yaw (does not rotate around it’s own axis), but is inclined towards some directio
I would honestly, reach out to your director, and let them know that you are wasting tons of hours going through something that would be a one and done setup.. Realistically, If it costs 60K to hire an IT engineer, and 20K to buy the hardware, and do a total policy build, ...