To get Zoe or Phoebe any better, I need more sensors.
- GPS: I’ve heard that while GPS may only have an accuracy of 10m, the resolution is a lot finer and is stable; that could be good for outdoors but useless for indoors.
- My various laser tracking solution should be good for indoors. My current best idea is 2 down-facing lasers on the frame and one hand held also pointing at the floor; combined with the RaspiCam could give height and and a simple degree of line tracking. Probably not good enough for use outside in bright sunlight however.
- The ultrasonic range finder could provide height indoors and out, but can’t help with horizontal drift
- The barometer is a chocolate teapot to me – despite high resolution, indoor air-pressure fluctuations will spoil it
- The compass could be useful for yaw, but only becomes worth its weight in gold alongside GPS: orientation and location
Currently, 2 sounds the most viable, useful, simple and cool – imagine taking a quadcopter for a walk indoors following the 3 laser dots on the floor trying to keep them in an equilateral triangle of fixed size. Except…
Zoe Pi Zero doesn’t have a camera connector so that rules her out.
Phoebe’s A+ is powered solely by the LiPo to make space underneath her for the camera and URF. That makes it much harder to run the code without also running the motors, so I need to sort that out to test the new idea safely. Then there’s the issue that I think the laser processing will a separate CPU to process the pictures – i.e. the A3 due for delivery some time this year.
Oh, and then I’ve just found this.
It might be time to take a break?