This week we wanted to test the propulsion fixes we worked on last week, since we got the chance to charge the battery fully. With the weights also redistributed and the thrust at 75% we were able to produce some movement. It was particularly windless that day, so the motor off drop is directly below the dropping point.
Pictured: Drop with motor off, 50% thrust, 75% thrust
On Monday we did a camera test to rule out the fisheye Raspberry Pi camera against a equirectangular Logitech camera. The camera is a bit heavier but the detection is a lot better that the Pi camera. Once we chosen the Webcam, we also varied the the resolution to see the tradeoff between detection rate and fps. With 480p we had 62% and 3.9fps with 720p we had 46% and 1.7fps. We will likely repeat this test, because the change in lighting between trials was substantial which is why the detection rate is not higher like expected, but the frame rate is clearly to low with 720p. Any smaller resolutions compromise detection and larger ones compromise frame rate.
The rest of the week we spent planning and fabricating the new device housing. We made several CAD models, laser cut most of the body, but were unable to 3D print because of time. We will be 3D printing the arms on which the propellers attach, and this will be a priority next week.
