Marcy 1 with the lights on
Finally got her to fly with the lights on. There are a lot of problems with lightbulbs reflecting on reflective surfaces. These problems never happened with IR, but IR should be no different.
Detecting the XYZ of a spinning object with 1 camera in high shutter speed mode is really hard. It would be easier with 2 cameras.
There is a new takeoff algorithm, relying on hard coded throttle for a given battery voltage to instantly leap off the stand. It's a very unstable system. Technically, it should be more stable than the previous throttle ramping algorithm.