Blade MCX autopilot
Finally got it to where it could drain an entire battery in a hover. It only lasts around 2 minutes. The IR leds consume enough power to make the voltage regulator hot.
The Edmond Optics IR filter ended up necessary. The higher shutter speed it requires got the framerate up to 30. The floppy disk required a shutter speed that was too slow to get 30fps. Some more software optimization got the position sensing good enough to do it.
It was entirely a matter of improving the position sensing speed. A pan/tilt camera using PWM to estimate the pan/tilt angles for every frame is going to max out in a 2m hover radius. It basically needs all the empty space in the room to hover.
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