The last step of this procedure changes the position of the vehicle electrical impulses to override pulse width modulated (PWM) input channels arducopter control.

During operation, the X and Y axes of sight for the roll and pitch of the vehicle, while the orientation angle corresponds to yaw.

In the next video, the information displayed on the screen shows the positions of the objects and the centroid or estimated position of the user. The output values of duration are also shown in millisecond pulse widths needed to correct roll and pitch positions when are outside the range bounded by the white rectangle in the center of the screen. The central circle represents the user, and the small circles correspond to the infrared tokens placed on his shoulders. The line connecting allows them to calculate the orientation angle in radians whose average labeling is also shown as yaw. In the upper right part of the image control coefficients for each axis are.