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The controlling computer receives the position and publishes waypoints which the quad tries to follow.
All of these components are prone to failure: The laser scans can report wrong information, or just don't report any information.
The quad mechanics or electronics can be mis-wired which may lead to applying wrong controlls to the motors.
Other notes
This application uses a number of different libraries, including plotting from arity-calculator, which is licensed under the Apache License, Version 2.0. We have made several improvements to their code and intend to submit our patches upstream.
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