The idea is - a personal helper drone. A devise that we can buy as a robot cleaner. But who will have a computer vision and after many upgrades will have much more features than bringing things out of the kitchen, although it is also useful if you're lazy. The prototype can fly, but I have not risked running it in my kitchen yet. The prototype already has laser rangefinders, which will help him navigate in the room, which simplifies the task of management. Computer vision is used to capture a subject in a hand. The voice control script will be implemented later, indoors orientation and auto charge too. Pipeline is pixhawk + jetson + sensors = voice controlled computer vision autonomous helper with auto flight to charger.
Test files can now be considered modified autopilot and mavlink protocol scripts. But I think that at present autopilot (opensource ardupilot) is overloaded, therefore, new code is being prepared for autonomous control in the room. When the minimum pipeline (bringing things in my apartment) will be ready - PID regulators will be replaced by neural networks for a more precise positioning. Propellers will later be closed with protective covers.
Prototype weight is 1.8 Kg, max throttle - 8 Kg