What is the normal lifespan for such batteries? I took very good care of them, and am wondering if I did something wrong I should prevent next time, or if this is just the normal life time with normal care.
They do not swell anywhere near that much, as I said before, they swelled so little it was only noticeable putting a straight edge onto the underside of the battery. They have no problems being placed into or removed from the drone.
I would have originally said the VPS stopped responding due to lack of light in the dark room, which would explain the drifting. But that wouldn't explain the lack of pitch/roll control. With no GPS or VPS, The drone should switch to Attitude...