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
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.
