cv_bridge_test.py : To make sure CvBridge is installed properply and working fine
hsv_finder.py : To visualize image for various hsv limits
video.py : Outputs live video feed from the drone camera in BGR format
object_detection.py : Detects objects based on color and creates a bounding box around them
cvpubpl.py : Creates bounding box around the largest contour (landing platform preferably) and publishes the midpoint coordinate to cvdrone.py
cvdrone.py : Helps to control the drone to align camera center with midpoint subscribed from cvpubpl.py. Here p (proportional factor) controller to used to control the velocity.
camera.launch : Makes webcam a rosnode such that any code written will work on gazebo as well
Ardupilot_Launcher_2.sh :Created a launcher that allows me to open gazebo simulator and run other required softwares easily
Trial_PL_using_p_controller : Video of the trial in gazebo simulator. Clearly there is lot of noise and the landing is not smooth and this problem is addressed by using a PID controller instead of just p
cvdrone_pid.py : Controls the drone using a PID (Proportional Integral Derivative) Controller. More efficient and smoother landing than P controller.
PID.py : Python module for PID controller
pid_test.py : To test if the PID controller algorithm is working as expected