[arbirk]

Agree. It's interesting that they don't treat the optical and gyroscopic systems as two separate sensors with the possibility to disregard one if it disagrees too much. A quick restart of the visual system would have been the most optimal solution #2020-hindsight

[afrodc_]

How would you know which one is wrong in this scenario?

[omeze]

This reminds me of the adage “ Never go to sea with two chronometers; take one or three” [1] to avoid this exact conundrum

[1] https://en.m.wikipedia.org/wiki/Triple_modular_redundancy#Ch...

[kortex]

Incidentally, I learned the hard way why you never run two instances of Consul (or any Raft powered stack), only 1 or 3. All sorts of wacky state can occur.

[arbirk]

You have the navigation system as a third ‘sensor’, but in this case the sensor with an abnormal spike could be disregarded