With a Raspberry Pi, running standard Raspian Linux, all coded in Python with 7 sensors (Accelerometer, Gyrometer, Magnetometer, down-facing LiDAR and RPi camera, GPS and Scance Sweep), my 5 year from absolute ignorance proof of concept project is nearly done.

Details here: http://www.pidrone.io

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Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

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