Today I finished the main code and PCB design work for the drone tracking and interception project. The software side is now working, including the turret tracking system and the depth perception setup. I tested the camera-based tracking, servo movement, and position estimation, and the system is able to detect and follow the target properly. A big part of the project also changed direction. At first, I was trying to hack into a commercial drone controller and control the drone that way, but that turned out to be unreliable and difficult to build on. After testing, debugging, and experimenting with different control methods, I pivoted to designing my own custom PCBs for the drone instead. I am still using the original drone frame, but the electronics will be custom-made so I can control the motors and hardware much more directly. I also finished designing the custom PCBs for the project. One board is for the drone-side control hardware, and the other is for the turret/control setup that connects the computer, camera, stepper, servos, and control electronics together in a cleaner and more organized way. After a lot of debugging, redesigning, and checking the layouts, the boards are ready to be manufactured. At this point, most of the major development work is complete. The code is finished, the tracking and depth perception systems have been tested, and the PCB files are ready. Now I just need to wait for the custom PCBs to arrive so I can assemble the hardware, test everything together, and finish the final version of the project. I couldn’t post all my videos and screenshots in this one post, but hopefully everyone will be able to see them in the future.