None of this explains why are images and timestamps considered in the absolute sense: if they were only considered in relative sense (to the previous one), afte

None of this explains why are images and timestamps considered in the absolute sense: if they were only considered in relative sense (to the previous one), after surviving the glitch of 1s/30 (which, at the mentioned speed of 4m/s would be 13cm or roughly 5" of distance covered — 11% of the Ingenuity rotor span of 1.2m, or a maximum of <15 degrees tilt on the height of 50cm, though the base height used by the algorithm probably ignores the legs and just takes the body-to-rotors height), it should go back to acting normally. Even in absolute terms, once you are 110 seconds into the flight, we are talking about an offset of 1s/(30*110s), or 0.03% — if control algorithm can get confused by an error of this magnitude, it's not a very good one. But honestly, I am sure the algorithm is much better than that, and I believe the explanation is "watered down" for the general populace, and a lot more is in play that's not being shared.