Camera Telemetry Stabilization

Problem

GPS holds a drone over a fixed point. To stay over an object that drifts a few meters, the drone needs a position reference tied to the object itself.

What I did

I wrote AprilTag pose estimation for a down-facing camera and fed the relative pose into an outer-loop position controller.

To tune it before flying, I built a test harness that replays synthetic tag motion at realistic camera frame rates, then tuned the controller gains against it.

Result

The stabilization loop works in simulation and is ready to move onto airframe hardware for flight tests.