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Thanks for the positive feedback. I posted on the PX4 google group to hopefully get some good feedback from that community as well. I did email DJI, but as dazzab suggested, there's little hope of getting a useful reply.

I’m working on a study to understand the most common sources of bugs in drone software. I’d love to hear from developers about where bugs commonly arise. Here is a certainly non-exhaustive list of potential sources of problems: Mathematical mistakes in control laws Control implementation bugs...