Andre Hernandez
Published © MIT

Receptionist Drone with CV

Receptionist drone, have a flying assistant show you the way to the lobby. Powered by Sony Spresense.

AdvancedFull instructions provided5 hours330

Things used in this project

Hardware components

Spresense boards (main & extension)
Sony Spresense boards (main & extension)
×1
SparkFun LV-MaxSonar-EZ4
×1
Single Turn Potentiometer- 10k ohms
Single Turn Potentiometer- 10k ohms
Single 10k Potentiometer
×1
Big Red Dome Button
SparkFun Big Red Dome Button
Single Normal Big Red Button
×1
Industrial SLC microSD
Delkin Industrial SLC microSD
(in this case 16 Gb but any memory works).
×1
Speaker with integrated lithium Battery.
×1
Tello Drone
×1
Laptop or Raspberry Pi
×1
Jumper wires (generic)
Jumper wires (generic)
×1

Software apps and online services

Arduino IDE
Arduino IDE
Python Spyder
Github TelloPy Library
Github Pyserial Library
Github Av Library
Github OpenCv Python Library
Github Numpy Library

Hand tools and fabrication machines

Drill Taps
OpenBuilds Drill Taps
Soldering iron (generic)
Soldering iron (generic)
Hot glue gun (generic)
Hot glue gun (generic)

Story

Read more

Custom parts and enclosures

Soundfile

Schematics

Circuit Diagram

Real Connections.

Propeller Correct Order.

Lateral Fly Control Diagram

Frontal Fly Control Diagram

General connection diagram.

Code

MP3DEC

C/C++
C File for Mp3 Decoder
/* Auto-generated by bin2c.py */
#include <stddef.h>

const unsigned char MP3DEC_start[] = {
	0x7F, 0x45, 0x4C, 0x46, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x02, 0x00, 0x28, 0x00, 0x01, 0x00, 0x00, 0x00, 0x99, 0x71, 0x00, 0x00, 0x3C, 0xF0, 0x00, 0x00,
	0x5C, 0xF0, 0x00, 0x00, 0x02, 0x00, 0x00, 0x05, 0x34, 0x00, 0x20, 0x00, 0x01, 0x00, 0x28, 0x00,
	0x0D, 0x00, 0x0B, 0x00, 0x68, 0xD4, 0x01, 0x00, 0x99, 0x71, 0x00, 0x00, 0x79, 0x07, 0x00, 0x00,
	0x7F, 0x07, 0x00, 0x00, 0xB5, 0x07, 0x00, 0x00, 0xBB, 0x07, 0x00, 0x00, 0xF1, 0x07, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x2D, 0x08, 0x00, 0x00, 0x27, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2D, 0x08, 0x00, 0x00,
	0x2D, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2D, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x77, 0x05, 0x00, 0x00,
	0x93, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x00, 0x00, 0x00, 0x00, 0xDF, 0xF8, 0x10, 0xD0, 0x06, 0xF0, 0x96, 0xFF, 0x06, 0xF0, 0x7E, 0xFF,
	0x00, 0x48, 0x00, 0x47, 0x01, 0x03, 0x00, 0x00, 0x68, 0xD4, 0x01, 0x00, 0x21, 0xF0, 0x0F, 0x01,
	0x89, 0x1C, 0x21, 0xF0, 0xF0, 0x01, 0x10, 0x31, 0x00, 0xB5, 0x21, 0xF4, 0xE0, 0x61, 0x01, 0xF5,
	0x00, 0x71, 0x21, 0xF4, 0x00, 0x61, 0x43, 0x68, 0xC1, 0xF3, 0x03, 0x10, 0x00, 0x05, 0xC1, 0xF3,
	0x02, 0x22, 0x40, 0xEA, 0x42, 0x40, 0xC1, 0xF3, 0xC0, 0x22, 0x40, 0xEA, 0x02, 0x40, 0xC1, 0xF3,
	0x0F, 0x32, 0x83, 0xB0, 0x02, 0x43, 0x00, 0x20, 0x00, 0x90, 0x01, 0x90, 0x01, 0xF0, 0x0F, 0x00,
	0x00, 0x21, 0x00, 0xF0, 0xEF, 0xF8, 0x03, 0xB0, 0x00, 0xBD, 0x4E, 0x48, 0x00, 0xF0, 0x4D, 0xBB,
	0x10, 0xB5, 0x01, 0x88, 0x42, 0x68, 0x4B, 0x48, 0xC1, 0xF3, 0x02, 0x21, 0xC3, 0x6D, 0x0A, 0x2B,
	0x16, 0xDA, 0x5B, 0x1C, 0xC3, 0x65, 0x83, 0x6D, 0x0A, 0x2B, 0x11, 0xDA, 0x5B, 0x1C, 0x83, 0x65,
	0x01, 0x2B, 0x07, 0xD0, 0x03, 0x6D, 0x00, 0xF1, 0x48, 0x0C, 0x08, 0x33, 0x63, 0x45, 0x94, 0xBF,
	0x03, 0x65, 0x00, 0x65, 0x00, 0x6D, 0x00, 0x28, 0x18, 0xBF, 0xC0, 0xE9, 0x00, 0x12, 0x04, 0xE0,
	0x39, 0x22, 0x3D, 0x49, 0x3D, 0x48, 0x00, 0xF0, 0x95, 0xF8, 0x3D, 0x48, 0x01, 0x68, 0x49, 0x1C,
	0x01, 0x60, 0x10, 0xBD, 0x82, 0xB0, 0xAF, 0xF2, 0x57, 0x05, 0x3A, 0x49, 0x00, 0x20, 0x00, 0xF0,
	0xB8, 0xF9, 0x37, 0x4C, 0x00, 0x28, 0x3C, 0xD0, 0x00, 0x20, 0x00, 0xF0, 0x09, 0xFA, 0x51, 0x22,
	0x35, 0xA1, 0x39, 0xA0, 0x00, 0xF0, 0x7E, 0xF8, 0x26, 0xF0, 0x0F, 0x00, 0x80, 0x1C, 0x20, 0xF4,
	0xFE, 0x60, 0x40, 0xF4, 0x00, 0x60, 0x6F, 0xF3, 0x1B, 0x30, 0x00, 0xF5, 0x40, 0x50, 0xC0, 0xF3,
	0x03, 0x11, 0x09, 0x05, 0xC0, 0xF3, 0x02, 0x22, 0x41, 0xEA, 0x42, 0x41, 0xC0, 0xF3, 0xC0, 0x22,
	0x41, 0xEA, 0x02, 0x41, 0xC0, 0xF3, 0x0F, 0x32, 0x0A, 0x43, 0x00, 0x21, 0x2C, 0x4B, 0x00, 0x91,
	0x00, 0xF0, 0x0F, 0x00, 0x01, 0x91, 0x00, 0xF0, 0x8D, 0xF8, 0x00, 0xBF, 0x00, 0xF0, 0xD8, 0xFA,
	0x20, 0x68, 0x00, 0x28, 0x08, 0xBF, 0x30, 0xBF, 0x00, 0xF0, 0xD6, 0xFA, 0x19, 0x48, 0x00, 0xF0,
	0xE4, 0xFA, 0x00, 0xF0, 0xCD, 0xFA, 0x20, 0x68, 0x40, 0x1E, 0x20, 0x60, 0x00, 0xF0, 0xCC, 0xFA,
	0xEC, 0xE7, 0x00, 0x20, 0x65, 0x60, 0x00, 0xF0, 0xCB, 0xF9, 0xC5, 0xE7, 0x11, 0x48, 0x00, 0x23,
	0x64, 0x22, 0x00, 0x65, 0xC0, 0xE9, 0x15, 0x03, 0x40, 0xF8, 0x5C, 0x3F, 0x19, 0x46, 0x83, 0x71,
	0xC3, 0x71, 0x03, 0x72, 0x00, 0x1D, 0x42, 0x54, 0x49, 0x1C, 0xC9, 0xB2, 0x02, 0x29, 0xFA, 0xD3,
	0x14, 0x4A, 0x01, 0x46, 0xC2, 0x60, 0x24, 0x30, 0x13, 0x4A, 0xC0, 0xE9, 0x00, 0x23, 0x83, 0x60,
	0xC3, 0x60, 0x81, 0xF8, 0x40, 0x30, 0xA1, 0xF1, 0x60, 0x00, 0x10, 0x4A, 0x10, 0x49, 0x06, 0xF0,
	0x5D, 0xBF, 0x00, 0x00, 0xA0, 0xC5, 0x00, 0x00, 0x06, 0xC4, 0x00, 0x00, 0x04, 0xC4, 0x00, 0x00,
	0x90, 0xC4, 0x00, 0x00, 0x25, 0x72, 0x00, 0x00, 0x2E, 0x2F, 0x74, 0x6F, 0x70, 0x2F, 0x6D, 0x61,
	0x69, 0x6E, 0x2E, 0x63, 0x78, 0x78, 0x00, 0x00, 0x21, 0x72, 0x65, 0x74, 0x00, 0x00, 0x00, 0x00,
	0x03, 0x03, 0x01, 0x00, 0xE4, 0xC3, 0x00, 0x00, 0xF8, 0xC3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
	0x71, 0x72, 0x00, 0x00, 0x82, 0xB0, 0x15, 0x46, 0x0C, 0x46, 0x08, 0x46, 0x06, 0xF0, 0x86, 0xFE,
	0x32, 0x28, 0xC4, 0xBF, 0x20, 0x44, 0xA0, 0xF1, 0x32, 0x04, 0x26, 0xF0, 0x0F, 0x00, 0x80, 0x1C,
	0x20, 0xF4, 0xFE, 0x60, 0x00, 0xF5, 0xC0, 0x60, 0x40, 0xF4, 0x00, 0x60, 0x65, 0xF3, 0x1B, 0x30,
	0xC0, 0xF3, 0x03, 0x11, 0x09, 0x05, 0xC0, 0xF3, 0x02, 0x22, 0x41, 0xEA, 0x42, 0x41, 0xC0, 0xF3,
	0xC0, 0x22, 0x41, 0xEA, 0x02, 0x41, 0xC0, 0xF3, 0x0F, 0x32, 0x0A, 0x43, 0x00, 0x21, 0x23, 0x46,
	0x00, 0x91, 0x00, 0xF0, 0x0F, 0x00, 0x01, 0x91, 0x00, 0xF0, 0x04, 0xF8, 0x01, 0x20, 0x00, 0xF0,
	0x4E, 0xFA, 0x00, 0x00, 0x70, 0xB4, 0xDF, 0xF8, 0xC4, 0xC2, 0x61, 0xF3, 0x1B, 0x62, 0x60, 0xF3,
	0x1F, 0x72, 0x9D, 0xED, 0x04, 0x0A, 0xDD, 0xED, 0x03, 0x0A, 0x9C, 0xF8, 0x01, 0x00, 0x9C, 0xF8,
	0x00, 0x10, 0x01, 0x26, 0x88, 0x42, 0x22, 0xD1, 0xEF, 0xF3, 0x10, 0x85, 0x72, 0xB6, 0xA8, 0x48,
	0x01, 0x68, 0x11, 0xF0, 0x01, 0x0F, 0x18, 0xBF, 0x01, 0x24, 0x06, 0xD1, 0x09, 0xE0, 0x64, 0x1C,
	0x0A, 0x2C, 0x02, 0xD9, 0x4F, 0xF0, 0xFF, 0x30, 0x0A, 0xE0, 0x01, 0x68, 0x11, 0xF0, 0x01, 0x0F,
	0xF5, 0xD1, 0xA0, 0x49, 0x0A, 0x60, 0x09, 0x1D, 0x0B, 0x60, 0x08, 0x1D, 0x06, 0x60, 0x00, 0x20,
	0x85, 0xF3, 0x10, 0x88, 0xB0, 0xF1, 0xFF, 0x3F, 0x1C, 0xBF, 0x70, 0xBC, 0x70, 0x47, 0x4F, 0xF0,
	0xFF, 0x30, 0xEF, 0xF3, 0x10, 0x81, 0x72, 0xB6, 0x9C, 0xF8, 0x01, 0x40, 0x9C, 0xF8, 0x00, 0x50,
	0x64, 0x1C, 0x04, 0xF0, 0x0F, 0x04, 0xAC, 0x42, 0x25, 0xD0, 0x93, 0x48, 0x9C, 0xF8, 0x01, 0x40,
	0x00, 0xEB, 0x04, 0x14, 0x22, 0x60, 0x9C, 0xF8, 0x01, 0x20, 0x00, 0xEB, 0x02, 0x12, 0x53, 0x60,
	0x9C, 0xF8, 0x01, 0x20, 0x00, 0xEB, 0x02, 0x12, 0xC2, 0xED, 0x02, 0x0A, 0x9C, 0xF8, 0x01, 0x20,
	0x00, 0xEB, 0x02, 0x10, 0x80, 0xED, 0x03, 0x0A, 0x9C, 0xF8, 0x01, 0x00, 0x40, 0x1C, 0x00, 0xF0,
	0x0F, 0x00, 0x8C, 0xF8, 0x01, 0x00, 0xDC, 0xF8, 0x04, 0x20, 0x01, 0x20, 0x1A, 0xB9, 0x83, 0x4B,
	0x82, 0x03, 0xC3, 0xF8, 0x00, 0x21, 0x81, 0xF3, 0x10, 0x88, 0x70, 0xBC, 0x70, 0x47, 0x00, 0xB5,
	0x82, 0xB0, 0x8C, 0x46, 0x03, 0x99, 0xCD, 0xE9, 0x00, 0x31, 0x13, 0x46, 0x01, 0x46, 0x62, 0x46,
	0x00, 0x20, 0xFF, 0xF7, 0x87, 0xFF, 0x02, 0xB0, 0x00, 0xBD, 0x2D, 0xE9, 0xF0, 0x5F, 0x74, 0x4D,
	0x75, 0x4F, 0x05, 0xF1, 0x04, 0x09, 0x71, 0x4C, 0x00, 0x26, 0x4F, 0xF0, 0x01, 0x08, 0x09, 0xF1,
	0x04, 0x0B, 0x00, 0xBF, 0xEF, 0xF3, 0x10, 0x80, 0x72, 0xB6, 0x22, 0x78, 0x61, 0x78, 0x8A, 0x42,
	0x0E, 0xBF, 0x00, 0x22, 0x21, 0x78, 0x07, 0xEB, 0x01, 0x12, 0x80, 0xF3, 0x10, 0x88, 0x6A, 0xB1,
	0xD2, 0xF8, 0x00, 0xA0, 0xD2, 0xF8, 0x04, 0xC0, 0xEF, 0xF3, 0x10, 0x83, 0x72, 0xB6, 0x28, 0x68,
	0x10, 0xF0, 0x01, 0x0F, 0x18, 0xBF, 0x01, 0x20, 0x11, 0xD0, 0x0C, 0xE0, 0x63, 0x49, 0x4F, 0xF4,
	0x80, 0x40, 0xC1, 0xF8, 0x80, 0x01, 0xBD, 0xE8, 0xF0, 0x9F, 0x40, 0x1C, 0x0A, 0x28, 0x02, 0xD9,
	0x4F, 0xF0, 0xFF, 0x31, 0x0B, 0xE0, 0x29, 0x68, 0x11, 0xF0, 0x01, 0x0F, 0xF5, 0xD1, 0xC9, 0xF8,
	0x00, 0xA0, 0xCB, 0xF8, 0x00, 0xC0, 0x5A, 0x48, 0xC0, 0xF8, 0x00, 0x80, 0x00, 0x21, 0x83, 0xF3,
	0x10, 0x88, 0xB1, 0xF1, 0xFF, 0x3F, 0x08, 0xBF, 0xBD, 0xE8, 0xF0, 0x9F, 0x90, 0x68, 0x10, 0xB1,
	0xD0, 0x68, 0x92, 0x68, 0x90, 0x47, 0xEF, 0xF3, 0x10, 0x80, 0x72, 0xB6, 0x21, 0x78, 0x49, 0x1C,
	0x01, 0xF0, 0x0F, 0x01, 0x21, 0x70, 0x80, 0xF3, 0x10, 0x88, 0x76, 0x1C, 0x04, 0x2E, 0xB1, 0xDB,
	0xBD, 0xE8, 0xF0, 0x9F, 0x45, 0x48, 0x00, 0x21, 0x41, 0x60, 0x41, 0x78, 0x00, 0x78, 0x81, 0x42,
	0x08, 0xBF, 0x70, 0x47, 0x4F, 0xF4, 0x80, 0x40, 0x44, 0x49, 0xC1, 0xF8, 0x00, 0x01, 0x70, 0x47,
	0x3E, 0x49, 0x00, 0x20, 0x88, 0x60, 0x41, 0x49, 0x4F, 0xF4, 0x00, 0x40, 0xC1, 0xF8, 0x00, 0x01,
	0x70, 0x47, 0x3A, 0x49, 0x01, 0x20, 0x48, 0x60, 0x3C, 0x49, 0x80, 0x03, 0xC1, 0xF8, 0x80, 0x01,
	0x70, 0x47, 0x36, 0x49, 0x01, 0x20, 0x88, 0x60, 0x38, 0x49, 0xC0, 0x03, 0xC1, 0xF8, 0x80, 0x01,
	0x70, 0x47, 0x10, 0x28, 0x24, 0xBF, 0x4F, 0xF0, 0xFF, 0x30, 0x70, 0x47, 0x35, 0x4A, 0x42, 0xF8,
	0x20, 0x10, 0x00, 0x20, 0x70, 0x47, 0x2D, 0xE9, 0xF0, 0x47, 0x33, 0x4C, 0x20, 0x68, 0x10, 0xF0,
	0x01, 0x0F, 0x18, 0xBF, 0xBD, 0xE8, 0xF0, 0x87, 0x30, 0x4E, 0x2E, 0x4D, 0x37, 0x1D, 0x4F, 0xF0,
	0x01, 0x08, 0x07, 0xF1, 0x04, 0x09, 0x30, 0x68, 0x3A, 0x68, 0xC9, 0xF8, 0x00, 0x80, 0xC0, 0xF3,
	0x03, 0x63, 0x10, 0x2B, 0x08, 0xD2, 0x55, 0xF8, 0x23, 0x10, 0x29, 0xB1, 0x20, 0xF0, 0x7F, 0x41,
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	0x08, 0x0E, 0x09, 0xF1, 0x01, 0x09, 0x5A, 0xF8, 0x2E, 0xA0, 0xCC, 0xF8, 0x0C, 0xA0, 0x00, 0xF1,
	0x20, 0x0A, 0x24, 0xFA, 0x0A, 0xFA, 0x4A, 0xEA, 0x06, 0x06, 0xC0, 0xF1, 0x00, 0x0A, 0x04, 0xFA,
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	0x04, 0x3B, 0x05, 0xF0, 0x0F, 0x03, 0x0F, 0x2B, 0x1D, 0xD1, 0xEF, 0xB1, 0x00, 0x9B, 0xC0, 0x1B,
	0x24, 0xFA, 0x03, 0xF3, 0x58, 0xBF, 0xBC, 0x40, 0x14, 0xD5, 0xDC, 0xE9, 0x03, 0x45, 0xDC, 0xF8,
	0x00, 0x60, 0xC5, 0xF3, 0x08, 0x09, 0x56, 0xF8, 0x29, 0x60, 0xCC, 0xF8, 0x0C, 0x60, 0x00, 0xF1,
	0x20, 0x06, 0x24, 0xFA, 0x06, 0xF6, 0x33, 0x43, 0x46, 0x42, 0xB4, 0x40, 0x6D, 0x1C, 0x20, 0x30,
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	0x2A, 0x90, 0xCC, 0xF8, 0x0C, 0x90, 0x00, 0xF1, 0x20, 0x09, 0x24, 0xFA, 0x09, 0xF9, 0x49, 0xEA,
	0x05, 0x05, 0xC0, 0xF1, 0x00, 0x09, 0x04, 0xFA, 0x09, 0xF4, 0x76, 0x1C, 0x20, 0x30, 0xCC, 0xF8,
	0x10, 0x60, 0x00, 0x2D, 0x18, 0xBF, 0x5B, 0x42, 0x41, 0xF8, 0x04, 0x3B, 0x08, 0xF1, 0x02, 0x08,
	0x90, 0x45, 0xFF, 0xF6, 0x2B, 0xAF, 0x00, 0xBF, 0xCC, 0xE9, 0x01, 0x04, 0x02, 0xB0, 0xBD, 0xE8,
	0xF0, 0x8F, 0x2D, 0xE9, 0xF0, 0x07, 0x04, 0x46, 0x07, 0x98, 0x42, 0xF2, 0x74, 0x7C, 0x04, 0xEB,
	0x80, 0x00, 0x00, 0xF5, 0x00, 0x50, 0xA4, 0x44, 0xD0, 0xF8, 0xAC, 0x56, 0x10, 0x46, 0xB2, 0xF5,
	0x10, 0x7F, 0xB2, 0xBF, 0x04, 0xF5, 0x00, 0x56, 0xBD, 0xE8, 0xF0, 0x07, 0x70, 0x47, 0x00, 0xBF,
	0xD6, 0xF8, 0x90, 0x2F, 0x9A, 0x42, 0x24, 0xBF, 0xBD, 0xE8, 0xF0, 0x07, 0x70, 0x47, 0xDC, 0xF8,
	0x10, 0x78, 0xDC, 0xF8, 0x08, 0x28, 0xBA, 0x40, 0x8F, 0xB1, 0xC7, 0xF1, 0x20, 0x08, 0xDC, 0xF8,
	0x0C, 0x48, 0x09, 0xE0, 0xB4, 0x82, 0x00, 0x00, 0x30, 0x8B, 0x00, 0x00, 0x60, 0x94, 0x00, 0x00,
	0xB8, 0x82, 0x00, 0x00, 0x60, 0xA2, 0x00, 0x00, 0x24, 0xFA, 0x08, 0xF4, 0x22, 0x43, 0x92, 0x0E,
	0x55, 0xF8, 0x22, 0x40, 0x22, 0x09, 0x21, 0xD0, 0x07, 0xEB, 0x02, 0x08, 0xCC, 0xF8, 0x10, 0x88,
	0xDC, 0xF8, 0x1C, 0x78, 0xB8, 0xF1, 0x20, 0x0F, 0x17, 0x44, 0xCC, 0xF8, 0x1C, 0x78, 0x15, 0xD3,
	0xDC, 0xF8, 0x0C, 0x78, 0xCC, 0xF8, 0x08, 0x78, 0xDC, 0xF8, 0x00, 0x28, 0x52, 0x1C, 0xCC, 0xF8,
	0x00, 0x28, 0x52, 0x1C, 0xC2, 0xF3, 0x08, 0x07, 0x5C, 0xF8, 0x27, 0x70, 0xCC, 0xF8, 0x0C, 0x78,
	0xDC, 0xF8, 0x10, 0x28, 0xA2, 0xF1, 0x20, 0x07, 0xCC, 0xF8, 0x10, 0x78, 0xC4, 0xF3, 0xC0, 0x02,
	0xC2, 0xB3, 0xDC, 0xF8, 0x08, 0x88, 0xDC, 0xF8, 0x10, 0x78, 0x08, 0xFA, 0x07, 0xF8, 0x3F, 0xB1,
	0xDC, 0xF8, 0x0C, 0x98, 0xC7, 0xF1, 0x20, 0x0A, 0x29, 0xFA, 0x0A, 0xF9, 0x49, 0xEA, 0x08, 0x08,
	0x07, 0xF1, 0x01, 0x09, 0xCC, 0xF8, 0x10, 0x98, 0xDC, 0xF8, 0x1C, 0x78, 0x4F, 0xEA, 0xD8, 0x78,
	0x07, 0xF1, 0x01, 0x09, 0xCC, 0xF8, 0x1C, 0x98, 0xDC, 0xF8, 0x10, 0x78, 0x20, 0x2F, 0x15, 0xD3,
	0xDC, 0xF8, 0x0C, 0x98, 0xCC, 0xF8, 0x08, 0x98, 0xDC, 0xF8, 0x00, 0x78, 0x7F, 0x1C, 0xCC, 0xF8,
	0x00, 0x78, 0x7F, 0x1C, 0xC7, 0xF3, 0x08, 0x09, 0x5C, 0xF8, 0x29, 0x90, 0xCC, 0xF8, 0x0C, 0x98,
	0xDC, 0xF8, 0x10, 0x78, 0xA7, 0xF1, 0x20, 0x09, 0xCC, 0xF8, 0x10, 0x98, 0xB8, 0xF1, 0x00, 0x0F,
	0x18, 0xBF, 0x52, 0x42, 0x41, 0xF8, 0x04, 0x2B, 0xC4, 0xF3, 0x80, 0x02, 0xCA, 0xB3, 0xDC, 0xF8,
	0x08, 0x88, 0xDC, 0xF8, 0x10, 0x78, 0x08, 0xFA, 0x07, 0xF8, 0x3F, 0xB1, 0xDC, 0xF8, 0x0C, 0x98,
	0xC7, 0xF1, 0x20, 0x0A, 0x29, 0xFA, 0x0A, 0xF9, 0x49, 0xEA, 0x08, 0x08, 0x07, 0xF1, 0x01, 0x09,
	0xCC, 0xF8, 0x10, 0x98, 0xDC, 0xF8, 0x1C, 0x78, 0x4F, 0xEA, 0xD8, 0x78, 0x07, 0xF1, 0x01, 0x09,
	0xCC, 0xF8, 0x1C, 0x98, 0xDC, 0xF8, 0x10, 0x78, 0x20, 0x2F, 0x16, 0xD3, 0xDC, 0xF8, 0x0C, 0x98,
	0xCC, 0xF8, 0x08, 0x98, 0xDC, 0xF8, 0x00, 0x78, 0x07, 0xF1, 0x01, 0x09, 0xBF, 0x1C, 0xCC, 0xF8,
	0x00, 0x98, 0xC7, 0xF3, 0x08, 0x09, 0x5C, 0xF8, 0x29, 0x90, 0xCC, 0xF8, 0x0C, 0x98, 0xDC, 0xF8,
	0x10, 0x78, 0xA7, 0xF1, 0x20, 0x09, 0xCC, 0xF8, 0x10, 0x98, 0xB8, 0xF1, 0x00, 0x0F, 0x18, 0xBF,
	0x52, 0x42, 0x41, 0xF8, 0x04, 0x2B, 0xC4, 0xF3, 0x40, 0x02, 0xC2, 0xB3, 0xDC, 0xF8, 0x08, 0x88,
	0xDC, 0xF8, 0x10, 0x78, 0x08, 0xFA, 0x07, 0xF8, 0x3F, 0xB1, 0xDC, 0xF8, 0x0C, 0x98, 0xC7, 0xF1,
	0x20, 0x0A, 0x29, 0xFA, 0x0A, 0xF9, 0x49, 0xEA, 0x08, 0x08, 0x07, 0xF1, 0x01, 0x09, 0xCC, 0xF8,
	0x10, 0x98, 0xDC, 0xF8, 0x1C, 0x78, 0x4F, 0xEA, 0xD8, 0x78, 0x07, 0xF1, 0x01, 0x09, 0xCC, 0xF8,
	0x1C, 0x98, 0xDC, 0xF8, 0x10, 0x78, 0x20, 0x2F, 0x15, 0xD3, 0xDC, 0xF8, 0x0C, 0x98, 0xCC, 0xF8,
	0x08, 0x98, 0xDC, 0xF8, 0x00, 0x78, 0x7F, 0x1C, 0xCC, 0xF8, 0x00, 0x78, 0x7F, 0x1C, 0xC7, 0xF3,
	0x08, 0x09, 0x5C, 0xF8, 0x29, 0x90, 0xCC, 0xF8, 0x0C, 0x98, 0xDC, 0xF8, 0x10, 0x78, 0xA7, 0xF1,
	0x20, 0x09, 0xCC, 0xF8, 0x10, 0x98, 0xB8, 0xF1, 0x00, 0x0F, 0x18, 0xBF, 0x52, 0x42, 0x14, 0xF0,
	0x01, 0x04, 0x39, 0xD0, 0xDC, 0xF8, 0x08, 0x88, 0xDC, 0xF8, 0x10, 0x78, 0x08, 0xFA, 0x07, 0xF8,
	0x3F, 0xB1, 0xDC, 0xF8, 0x0C, 0x98, 0xC7, 0xF1, 0x20, 0x0A, 0x29, 0xFA, 0x0A, 0xF9, 0x49, 0xEA,
	0x08, 0x08, 0x07, 0xF1, 0x01, 0x09, 0xCC, 0xF8, 0x10, 0x98, 0xDC, 0xF8, 0x1C, 0x78, 0x4F, 0xEA,
	0xD8, 0x78, 0x07, 0xF1, 0x01, 0x09, 0xCC, 0xF8, 0x1C, 0x98, 0xDC, 0xF8, 0x10, 0x78, 0x20, 0x2F,
	0x16, 0xD3, 0xDC, 0xF8, 0x0C, 0x98, 0xCC, 0xF8, 0x08, 0x98, 0xDC, 0xF8, 0x00, 0x78, 0x07, 0xF1,
	0x01, 0x09, 0xBF, 0x1C, 0xCC, 0xF8, 0x00, 0x98, 0xC7, 0xF3, 0x08, 0x09, 0x5C, 0xF8, 0x29, 0x90,
	0xCC, 0xF8, 0x0C, 0x98, 0xDC, 0xF8, 0x10, 0x78, 0xA7, 0xF1, 0x20, 0x09, 0xCC, 0xF8, 0x10, 0x98,
	0xB8, 0xF1, 0x00, 0x0F, 0x18, 0xBF, 0x64, 0x42, 0x80, 0x1C, 0xB0, 0xF5, 0x10, 0x7F, 0xA4, 0xBF,
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	0x29, 0x46, 0x20, 0x46, 0xBD, 0xE8, 0x70, 0x40, 0x10, 0x22, 0xFF, 0xF7, 0x66, 0xBC, 0x10, 0xB4,
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	0x70, 0x47, 0x00, 0xBF, 0x12, 0xF0, 0x01, 0x0F, 0x22, 0xF0, 0x01, 0x03, 0x12, 0xBF, 0x1C, 0xF8,
	0x03, 0x30, 0x3C, 0xF8, 0x03, 0x30, 0x1B, 0x0A, 0x83, 0xEA, 0x10, 0x23, 0x49, 0x1E, 0x34, 0xF8,
	0x13, 0x30, 0x02, 0xF1, 0x01, 0x02, 0x83, 0xEA, 0x00, 0x20, 0x80, 0xB2, 0xEA, 0xD1, 0x10, 0xBC,
...

This file has been truncated, please download it to see its full contents.

MP3DEC

C Header File
mp3 decoder Header file
#ifndef _MP3DEC_H
#define _MP3DEC_H
/* Auto-generated by bin2c.py */
#include <stddef.h>

extern const unsigned char MP3DEC_start[];
extern const size_t MP3DEC_size;

#endif

OpenCV Drone Control

Python
# -*- coding: utf-8 -*-
"""
Created on Sat Dec 29 13:46:30 2018

@author: VAI
"""

import serial
import tellopy
import av
import cv2.cv2 as cv2  # for avoidance of pylint error
import numpy
import time
from time import sleep

prev_flight_data = None
font = cv2.FONT_HERSHEY_SIMPLEX
battery=100

def handler(event, sender, data, **args):
    global prev_flight_data
    global battery
    drone = sender
    if event is drone.EVENT_FLIGHT_DATA:
        if prev_flight_data != str(data):
            #print(data)
            datas=str(data)
            num = datas.find("BAT")
            battery=int(datas[num+4:-31])
            print("Battery:" + str(battery))
            prev_flight_data = str(data)
    else:
        print('event="%s" data=%s' % (event.getname(), str(data)))

cascPath2 = "haarcascade/haarcascade_smile.xml"
cascPath = "haarcascade/haarcascade_frontalface_default.xml"
cascPathStop="haarcascade/Stopsign_HAAR_19Stages.xml"
faceCascade = cv2.CascadeClassifier(cascPath)
signalCascade = cv2.CascadeClassifier(cascPath2)
ser = serial.Serial("COM11", 115200)
star=1

def main():
    global star
    global cascPath
    posx=0
    counter=0
    drone = tellopy.Tello()
    counter1=0
    step=200 #Seed Value, Dont Care :3
    step1=200
    stop=0
    flag1=True
    
    while star==1:
        cc=str(ser.readline())
        if cc[2:][:-5]=="Calling Drone":
            print(cc[2:][:-5])
            star=2
            break

    try:
        #Start Protocol
        drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
        drone.connect()
        drone.wait_for_connection(60.0)
        container = av.open(drone.get_video_stream())
        frame_skip = 300
        xdis=200
        ydis=150
        drone.takeoff()
        sleep(5)
        drone.up(18)
        sleep(5)
        drone.up(0)
        sleep(1)
        countface=0
        # End Start Protocol
        
        
        while True:
            for frame in container.decode(video=0):
                if 0 < frame_skip:
                    frame_skip = frame_skip - 1
                    continue
                start_time = time.time()
                image = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
                #imagep= cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_BGR2GRAY)
                
                
                faces = faceCascade.detectMultiScale(
                image,
                scaleFactor=1.7,
                minNeighbors=5,
                minSize=(30, 30),
                flags=cv2.CASCADE_SCALE_IMAGE
                )
                
                
                if (len(faces) == 0):
                    countface=0
                    if(step!=0):    
                        if(step==1):
                            drone.backward(0)
                        elif(step==3):
                            drone.up(0)
                        elif(step==4):
                            drone.down(0)
                        elif(step==5):
                            drone.left(0)
                        elif(step==6):
                            drone.right(0)
                        elif(step==7):
                            drone.up(0)
                            drone.right(0)
                        elif(step==8):
                            drone.up(0)
                            drone.left(0)
                        elif(step==9):
                            drone.down(0)
                            drone.right(0)
                        elif(step==10):
                            drone.down(0)
                            drone.left(0)
                        elif(step==11):
                            drone.forward(0)
                        else:
                            ... #Nothing
                    step=0
                    counter1+=1
                    if counter1>=10 and flag1==True:
                        flag1=False
                        if posx < 430:
                            drone.counter_clockwise(0)
                        else:
                            drone.clockwise(0)
                else:
                    flag1=True
                    counter1=0
                    for (x, y, w, h) in faces:
                        cv2.rectangle(image, (x, y), (x+w, y+h), (0, 255, 0), 2)
                        place = image[y:y+h, x:x+w]
                        
                        #Save last X position in Memory
                        if(countface > 3):
                            posx=(x+(w/2))
                        else:
                            countface+=1
                        
                        signal = signalCascade.detectMultiScale(    
                        image[y:y+h, x:x+w],
                        scaleFactor= 3.5,
                        minNeighbors=20,
                        minSize=(20, 20),
                        flags=cv2.CASCADE_SCALE_IMAGE)
                        
                        for (x, y, w, h) in signal:
                            cv2.rectangle(place, (x, y), (x+w, y+h), (255, 255, 0), 2)
                           
                            if (counter==10):
                                ...
                                #raise ValueError('Close Connection')
                                #break
                            elif (len(signal) != 0):
                                counter+=1
                            else:
                                counter=0
            
                        if(w*h > 60000 and step!=1):
                            if(step==0):
                                drone.clockwise(0)
                            elif(step==1):
                                ...
                                #drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.