Hi everyone-- I've moved all my own code out of the ardrone_autonomy fork that I've created into a new package, "falkor_ardrone", added a little basic documentation, and submitted a request for indexing. It's available here: 

https://github.com/FalkorSystems/falkor_ardrone

Since the last demo at the NY Hardware Startup I added a PID controller for the robot's vel_cmd using the Navdata vx/vy data that the ardrone_driver was giving me, and it flies a lot better. Here's a video from the NYC flying robots meetup:

http://www.youtube.com/watch?v=Eq29wDa0B1U&feature=plcp

Yours,
-- 
Sameer Parekh, CEO
Falkor Systems, Inc.


On Tuesday, September 25, 2012 at 5:40 PM, Sameer Parekh wrote:

> Hi everyone, 
>   I'm new to OpenCV and ROS so I'm happy to mention that I'll be demoing my first OpenCV/ROS project this Wednesday at the NY HW Startup Meetup and also at Maker Faire on Sunday this weekend. Here are the two links to the events: 
> 
> http://www.meetup.com/NY-Hardware-Start-up/events/80880922/
> 
> http://makerfaire.com/pub/e/9341
> 
> All the code I wrote is in a fork off of AutonomyLab's ardrone_autonomy. I probably should have created a seperate package, I know, I'll probably move all my additions into a separate package at some point. In the meantime you can pick up my code at: 
> 
> https://github.com/FalkorSystems/ardrone_autonomy
> 
> It's not documented at all, and it has evidence of numerous attempts to try different things that failed to work very well, but now it works pretty well. I finally ended up using a Haar classifier so that I could detect a person wearing a t-shirt with my company logo, and the robot follows it. The cascade detection is augmented with optical flow in case in a subsequent frame the logo gets missed by the detector. 
> 
> Hopefully this will help other people out there trying to do similar things.  
> 
>