Crazyflie autopilot using Kinect and a PC

Autopilot of the Crazyflie using the Kinect and a PC. The tracking is done using libfreenect and OpenCV by attaching a small red ball and flying it in front of a white wall. The image processing, tracking and a control loop is run on the PC that will calculate a roll/pitch/thrust set-point and send it to the Crazyflie. The green circle is set-point (can be moved with the mouse) and the blue circle is the detected object. More info on