Hermione, my X8 autonomous drone, flies for 46s, of which 40s are hover. It's breezy causing a little wobble in Hermione and confirmed if you watch the ceanothus to my left behind me, and the drift and recovery of the DJI Mavic Pro videoing Hermione and me. H is videoing the gravel ground at 800 x 800 pixels at 20 fps and did so without a glitch. I'll see how much higher she can go. Any drift is due to the fact the lateral tracking from the ground facing RaspiCam and the vertical tracking is fused with the double integrated accelerometer at about 0.5s. I'm fecking delighted! What do you think?