Governing the behavior control program in the onboard computer can be described as:

 

 

1. Read each new image captured by the Arducam.

 

2. Scan the image for markers that identify the user.

 

3. If the user is found, switch to autonomous mode.

 

4. Calculate the difference in the user's position relative to the center of the range of vision in both axes

 

5. Calculate the orientation angle relative to the radius at position 0 radians line connecting the two markers User

 

6. From the differences between the current positions and desired control signals to estimate the same domain as those generated by the RF receiver module addresses to manipulate pitch, roll and yaw.

 

7. Apply the corresponding electrical signals in the GPIO outputs assigned.