If you look at yesterday’s video full screen, from top left to right, you can see a muddy patch and two chicken poos, the second poo of which is close to Hermione’s front left prop on take-off. I was back out in the dark last night, tracking them down. Here’s why:
Although the graph of camera lateral tracking and the Mavic video are almost facsimiles in direction, the scale is out; the graph shows the distance from take-off to landing to be about 1.7m whereas a tape measure from chicken poo #2 to the cotoneaster shrubbery landing point measures about 4.2m. Given how accurate the direction is, I don’t think there’s any improvement needed for the macro-block processing – simply a scale factor change of ≈ 2.5. I wish I knew more about the video compression method for generating macro-blocks to understand what this 2.5 represents – I don’t like the idea of adding an arbitrary scale of 2.5.
One further point from yesterday’s video, you can see she yaws clockwise by a few degrees on takeoff – Hermione’s always done this, and I think the problem is with her yaw rate PID needing more P and less I gain. Something else for me to try next.
I had tried Zoe first as she’s more indestructible. However, her Pi0W can only cope with 400 x 400 pixels video, whereas Hermione’s Pi B 2+ can cope with 680 x 680 pixel videos (and perhaps higher with the 5 phase motion processing) which seem to work well with the chicken trashed lawn.