First tests of hover control using a completely self implemented SLAM system (monocular camera keyframe based visual-inertial odometry with bundle adjustment), Crazyflie Client and Control node.
The video shows a quick initialization (uses barometer for scale) and autonomous hover hold under disturbances (blowing and nudging the flie). The PID controller obviously needs a lot of tuning, it is extremely passive for now. Proof of concept.
This work is being done as part of my MSc thesis, which should be written shortly :)
As to why I do not show the first person view throught the whole video: unfortunately the bag file I was recording of the on board sensors filled up my hard drive pretty quickly and stopped recording half way through the experiment;) My bad!
EDIT: Thesis is now available at the bottom of http://vision.in.tum.de/research/nanocopter
