Motion tracking is now working

Courtesy of a discussion with¬†6by9 on the Raspberry Pi forum, the motion tracking for Zoe is now working using raspivid which has an option to not buffer the macro-block output. ¬†Here’s a plot of a passive flight where she moves forward and back (X) a couple of times, and then left and right (Y).

Macro-block vs accelerometer

Macro-block vs accelerometer

The plot clearly shows the macro-blocks and accelerometer X and Y readings are in sync (if not quite at the same scale), so tomorrow’s the day to set Zoe loose in the garden with the motors powered up – fingers crossed no cartwheels across the lawn this time!

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