The components we will use in this mission include a Crazyflie 2.0 quadrotor, a Crazyradio PA, a Kinect for the Windows v2 sensor, and a workstation computer. Chapter 7, Making a Robot Fly, describes the Crazyflie and Crazyradio and their operations. Chapter 4, Navigating the World with TurtleBot, is a good introduction to a depth sensor such as the Kinect v2. It is recommended to review these chapters before beginning this mission.
Kinect v2 is an infrared time of flight depth sensor that operates at a higher resolution than the Kinect for Xbox 360. The modulated infrared beam measures how long it takes for the light to travel to the object and back, providing a more accurate measurement. This sensor has improved performance in dark rooms and in sunny outdoor conditions. With a horizontal field of view (FOV) of 70 degrees and a vertical FOV of 60 degrees, the infrared sensor can accurately detect distances ranging from 0.5 to 4.5 meters (20 inches...
