After starting the PID system roughly 1 second before liftoff in order to reduce error accumulation, the code onboard failed to account for a discrepancy in timing within the complimentary filter, resulting in a massive initial drift of ± 50 degrees on each axis before zeroing out after 3 seconds, which was much too late in this case. The rocket lifted off with poor TVC orientation, damaged the PID starting gantry, and knocked over the articulating support tower, before spinning out of control and crashing to the ground. This accidentally tripped the onboard relay to trigger the retro-rockets. Technical report coming soon! https://twitter.com/joebarnard http://www.bps.space