:: Autonomous flight with Julio - locking on the person is being looked for ::

One of the functions we're implementing on Julio is the ability for after recognizing a face, if the user want he can give a command to Julio to "lock" on that person. Doing that, Julio will go to an autonomous flight mode (like auto-pilot) where he follows the face of the person and according to the face position on the screen it positions itselfs, for example:

• Face center is on the left of the screen - Julio goes right on X axis (roll);
• Face center is the upper part of the screen - Julio goes up on Y axis (gaz);
• Face area is smaller then a minimum amount - Julio goes forward on Z axis (pitch).

Here is the flowchart diagram of the algorithm we are implementing:

All day was spent on this algorithm and transforming it from paper to programming and then adapting, because Julio auto-adjusts itself according to the flight conditions (wind, height, etc.) so in reallity it's not hoovering exactly on the same place as you "left it" before. But, one of the major factors for more working not being done is the batteries. Julio came with 2 batteries, but even that is not sufficient when you spent all day working with them, because they do not charge as fast as you need. Maybe we have to go to ebay once more :(