I did a lot of modifications to the program again, came up with something that essentially performs the hold mode when thrown, using acceleration in z as the trigger. The only issue is it doesn't like being thrown above 0.5m, it begins to break the fall, do attitude correction, then kills the thrust out to 0, then back to 100 then back to zero and so on randomly until disarmed. If you have any ideas I would love to know.
I will upload it as soon as I get chance, I just need to finish writing up my dissertation on this due tomorrow 11 pm eek
, and then I have several engineering exams until the start of July I am still getting used to GitHub. My apologies for being such a huge pain in the ass and tease.