The mane event was devising every possible test for position sensing. Position sensing from a rotating camera & all the trigonometry required was too crazy to believe it would work. There were a lot of electronic dongles hanging in mid air. Crashing would get expensive.
When Marcy 2 was originally conceived, there was full confidence that everything currently on the air frame was physically enough to do the job. Confidence wanes when it's built up & sitting on the test stand.
The leading technique was the old ceiling hung wire, but it didn't constrain bank angle. As expected, the bank angle drastically impaired position sensing. When level, the azimuth correlation & blob detection seemed to work.
There were a lot of obvious glitches which the deglitching couldn't handle. The camera detected noise as the target when pointing away from the target.
Thus, the error prone test of a minimum blob size was required. Manely, the largest blob in the last revolution was taken. Then, all blobs below half its size were excluded. A blob greater than 1/2 the maximum could sneak in when the camera was pointed away, for which deglitching would be required. A real paranoid filter could take only the largest blob from the last revolution.
She already has trouble differentiating from the Heroine Clock. This is the reality of machine vision.
The quest for a more robust electronics arrangement continues. The mane board can be repaired, but the wifi card has a $5 tag & works better near the axis of rotation.
Another test flight & another crash as the denoising algorithm throws out good data. If the aircraft rises too fast & the blobs get small too fast, they get thrown out for being too small.
There were only 20 good frames it could have used during the takeoff, if it worked.
Anyways, started thinking more about tethered power. The 10 minute flight time & cost of crashing batteries over the years is such a turnoff, it makes you think surely the infinite flight time of a tethered system can outweigh the drawbacks.
It's been sold before as a finished product, with limited results. Maybe it was sold to the wrong customers. Someone interested in a flying camera for photographing on a closed set would be better off with a tethered system. Hobbyists are manely interested in hovering a camera in a stationary location.
The mane limitation of all FPV videos is they have a very limited horizontal range, beyond which they always have to turn around. It's hardly enough justification for batteries.
The ideal tethering system has an insulated wire for V+ & uninsulated wire for ground. The wires are as thin as possible. The voltage on the ground is much higher than the motor voltage, to compensate for resistance. The motors are wound for very high voltage & low current.
The monocopters can't be tethered.