Solution Branch - Drone just spins out of control and crashes

[brien-crean]

I realise this project is not part of the submission and hasn't been updated in some time. I tried running the solution branch a number of times to see what a working solution would look like but the drone just spins out of control and crashes to the ground. Am I doing something wrong or does this code work anymore? Here is a GIF of what happens and visdom graphs