So I clipped a branch and went down from only about 20 feet the aircraft is still intact. No physical damage that I can see. When I found the drone it was upside down in about 7 inches of water and it had been sittin there for approximately 15mins. All the lights were still flashing and the camera was moving around on its own. I yanked the battery for fear it would ruin it more or jack up the IMU. Let it all dry out and did all the recalibrations that I can and it says "navigation system error" "check redundancy state" what does that mean and how do I fix it??