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Welcome to the firaAirPro2025 Project 👋

Hey there! Thanks for stopping by.

This project is all about programming a Tello drone to complete a set of autonomous tasks as part of the FIRA Iran Robotics Competition 2025.

We’ve broken the mission down into three main challenges:

Gate Navigation – Fly the drone through a vertical gate

Line Following – Track and follow a line on the ground

Horizontal Gate – Navigate through a gate that's lying flat

Each section has its own dedicated explanation and code walkthrough. Whether you're here to learn, use parts of the code, or contribute — welcome aboard! Among these challenges, passing through horizontal gates has not yet been accomplished, and it is hoped that this topic will be added to the project in the future Before diving into the code, here’s a list of key topics we’ll be covering throughout this project. Each section focuses on a specific part of the system — from basic drone connection to advanced control and image processing.

📚Table of Contents

1. 🔗 Connecting to the Tello Drone

Steps to establish a connection with the drone, required libraries, and initial communication testing.

2. 🎯Gate Detection – Image Processing

How we detect the gate using computer vision:

• Image preprocessing

• Color filtering

• Contour or shape detection

• Estimating the gate’s relative position

3. 🎯 Gate Navigation

• Navigation Control

• Thread Management

4. 🎛️ PID Controller

• Implementing a PID controller to align the drone with the gate:

• What is PID

• How we tuned the parameters

• Examples of drone behavior using PID

5. 🛣️ Line Detection

• Line detection strategy for path following:

• Choosing the right color space

• Detecting edges or center of the line

• Calculating deviation angle

6. 🧭 Line Following Controller

The control logic behind following the detected line:

• Using the deviation angle

• Converting it into movement commands

• Comparing different control methods (constant, PID, etc.)