Notes: 2/23/16

• Problem:
• The drone, though it seems to locate the target accurately enough, does not fly in an expected manner, given a target placed in front of it.

• Possible Improvements:
• Remove erosion (it may be that slowness is more of a hindrance than noise reduction is an improvement) and detection at edges of the image
• Introduce multiple-color detection (make target-identification more accurate), and make a target of concentric, differently-colored circles
• Account for the tilt of the drone, by rotating the X and Y axes of the incoming video images to fix what is “horizontal” and “vertical” 
• Find better, more distinct color (green-blue?)

• Possible Diagnoses:
• The drone is not given enough time to respond to commands, and is thus responding late
• The drone is reacting to noise (unwanted areas that are registered as within the color range)
• The algorithm for finding the marker does not consider every blob, or does not create a blob around every cluster of pixels

• Plans for the Near Future: 
• Move to an area which has no possibility of noise (maybe put white posters up on hallway lockers while testing)
• Mark all blobs, to make sure every candidate is considered
• Look over the program thoroughly, to see what commands are paired to which conditions
• Try removing erosion and check for improvement
• Try putting a lag on sending new commands, and check for improvement
• Try using target’s radius to control Z-axis movement (forward, backward)