Our GPS module proved to be very imprecise; the output position would drift quite significantly. Since this limitation is hard to use for testing purposes, we use a type of pseudo-GPS. This pseudo-gps is provided via a high speed camera system. It is used to send exact position data over the bluetooth controller to be used by the PID controller.

High-Speed Camera System
The high speed camera system is our current method of GPS. This system tracks four small infrared reflectors located on top of the quadcopter and quantifies the information (x,y,z) and outputs via the VRPN protocol to the base station.
Inputs: Location of infrared balls
Outputs: Position data to the base station via VRPN
Interface: OptiTrack Software