I'm still trying to understand whether this was a software or a hardware issue.. I mean, it's true that perhaps the software should have been better at rejectin

I'm still trying to understand whether this was a software or a hardware issue.. I mean, it's true that perhaps the software should have been better at rejecting the saturated data, but if an IMU persists in a saturated state for 1 second, that's a whole lot of time that the software just cannot know what is happening. Granted, if it predicts an impossible configuration due to this, perhaps some different action should have been taken, like waiting for higher confidence and a more close-to-expected attitude estimate, but by then perhaps it would be too late. I mean, the thing is falling from the sky.. perhaps the "safe" thing was to deploy anyway. (Even if it didn't work.) I just don't know.