Why insinuate? Why not just say "Hey, I think you're a douchbag!" I can take it, honestly, I'm a grown up

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Well thank you for the lovely history of yourself and what you've worked with, it's actually kinda cool and impressive sounding. Well done you.
With all that knowledge and experience behind you no wonder it's frustrating and annoying that you can't get a simple drone to work properly. Ya know, I've never had the "follow me" feature act up or orbit shots mess up on me in anyway, however the "look at me" did have that issue that the copter would yaw 90 degree's to the right and face away from me. No matter how close or far it was away from the controller. However I had assumed this was because I was living in an area with poor GPS. It never occurred to me at the time that the compass calibration was off and that was a contributing factor. I'll be damned if I know why. May be something you want to look into.
By the way, it wasn't a dissertation, it was an analysis based upon the facts that you presented, a dissertation is usually required, an analysis I gladly do for free rocket man!