🐛 Bug: Servoing algorithm not functional

[Witty-Wizard]

Describe the bug

Currently the servoing algorithm involves finding the center of aruco code, by finding the center point of diagonally opposite points and then using PID to align the center of image with center of PID.

This approach has several drawbacks:

• It aligns the center of camera with the aruco and not the actual drone
• When the drone moves it tilts in opposite direction, making the PID go haywire.

Steps to Reproduce

To reproduce this, run the simulation and then start the python code, steps for which are present in the documentation of the project

Expected Behavior

It should smoothly align the drone with the center of aruco once that is done it should start the landing procedure.

Additional Context

No response

[Witty-Wizard]

No need for servo algorithm.
calculate distance of drone from aruco and set it to move in that direction, do not feed the destination continuously