Things started off with a failed motor after the last crash. Turned out a wire sheered off from flexing during a crash long ago & the other 2 wires were nearly broken off. No way to spot it without removing the heat shrink tubing. There's no flex tolerance in those $12 motors. This in addition to a minimum PWM setting that was too low after a firmware update may have been causing flips for a while.
Next, it was off to test a new GPS derived heading algorithm & a 25 year old flash. This was the EOS 5D's lightest configuration with a flash.
The 25 year old flash wasn't much dimmer than the modern $400 580EX II but took forever to recharge. The GPS derived heading seems better.
Now the results of the new algorithm. Commanded & detected heading should be as close as possible.
Except for a few transients, it actually seemed to do better.
Finally, for those of you who use laptops initially instead of rendering 3D models of home made groundstations & buying laptops later, it's time to hack the Targus.
Targus deliberately prevented hackers from splicing unusual connectors to their power supplies by requiring a logic circuit in their connectors to turn on the power supply. Your only recourse to use a custom connector is some diabolical soldering & Dean.