are lacking yet this spring, and having mown the lawn yesterday, features are hard to find for the video lateral tracking. So I think this is a pretty good 37s hover. In fact, I think it’s as good as it can be until the daisies start sprouting:
This is with a frame size of 640² pixels. There’s an check in the code which reports whether the code keeps up with the video frame rate. At 640² it does; I tried 800² and 720² but the code failed to keep up with the video frame rate of 20fps.
As a result, I’ve uploaded the changes to GitHub. There’s work-in-progress code there for calibrating the compass “calibrateCompass()”, although that’s turning out to be a right PITA. I’ll explain more another time.
As a side note, my Mavic uses two forward facing camera to stereoscopically track horizontal movement, combined with GPS and a corresponding ground facing pair of cameras and the IMU accelerometer integration, yet if you watch the frisbee / baseball bat to the left, even the Mavic drifts.