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Cyber-Alaska PID pilot controller. Uses a Kinect to control a Parrot drone.
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Parrot Kinect: Flies a Parrot ARdrone 2.0 using a Microsoft Kinect 360 for indoor localization. To build: make To set up coordinate system: 0.) Plug in Kinect. 1.) Install libfreenect, and get examples working. 2.) Run bin/kinect 3.) Adjust coordinate system in src/kinect/coordinate_system.h 4.) Recompile and re-run until white region is clear. To fly: 0.) Put batteries in ARdrone. 1.) Connect to ardrone2 wifi network. 2.) Run bin/parrot 3.) Press 'r' until out of emergency mode. 4.) Press '0' to take off. Manually align yaw so main camera is facing away from the Kinect. 5.) Verify Kinect is tracking position correctly. 6.) Press 'o' for autonomous position hold. 7.) Press spacebar to land. Dependencies: libfreenect libusb libjpeg libavcodec libswscale soil opengl glu glut glew Installation: On Linux/Mac: Install the dependencies. Ubuntu - sudo apt-get install libusb-dev libjpeg-dev libavcodec-dev libswscale-dev libsoil-dev freeglut3-dev libglew1.6-dev Fedora - sudo yum install libusb-devel libjpeg-devel ffmpeg-devel freeglut-devel mesa-libGLU-devel glew-devel SOIL-devel Others - Google search each library, download, install from source. Mac - Same as Ubuntu except use brew or ports. Run make. On Windows: Run make.bat. Controls: Cameras: 1 - forward camera 2 - bottom camera Motion: w - forward s - backward a - left d - right UP_ARROW - ascend DOWN_ARROW - descend Rotation: RIGHT_ARROW - clockwise LEFT_ARROW - counter clockwise Misc: 0 - take off SPACE - land r - reset parrot o - toggle autonomous mode