Fix Drone Flight Stability Bugs

My drone’s flight control software is showing serious stability problems—unexpected pitch and roll changes that make the aircraft drift even in calm conditions. I need an engineer or developer who can dive into the existing flight-control codebase, pinpoint what is causing the instability, and implement a solid, tested fix.

The job starts with a code review to isolate the root cause in the flight-control module, followed by refactoring or patching the affected algorithms (PID tuning, sensor fusion logic, or any timing issues you uncover). Once the fix is in place, I’ll need a compiled firmware image plus clear documentation of the changes so I can reproduce the build and flash future units.

Acceptance criteria
• Drone must hover and track waypoints without unexpected oscillation for at least 10 minutes in indoor bench tests and a short outdoor flight.
• All modified code is committed to my private repository with explanatory comments.
• A concise troubleshooting report outlines the original fault and the corrective steps taken.

If you’re comfortable working with embedded C/C++, PX4 or ArduPilot-style architectures, and have a knack for debugging complex control loops, let’s get this drone flying smoothly again.