CF2 with simple Cameracontroll

[berikobama]

Currently im working on a Camera based stabilization for my Flie.
Basically it does the same thing as the Kintect control but without depth control.
The copter is tracked by a green LED on top of the copter an my MacBooks integrated camera.
For now the code is poorly commented, im working on this project for one day now, so stay tuned for more updates.
Code: https://github.com/berikobama/crazyflie
I tried to use as few exotic imports as possible.
Since im completely new to the whole thing (tracking and programming an pid controller) i appreciate every comment i can get.
So far it _kind of_ works, but my PID-Stuff is just garbage (and i have currently no idea how to improve it).
I try to comment my code better and push the new version later this evening.

Greetings from Berlin,
Erik

[berikobama]

The tracking works now relatively stable (detects the drone by searching for a moving green colored ball).
Main problem is the PID.
If somebody has an idea how to build an PID which takes distance (in pixel) and outputs thrust/roll please let me now.