This being closed source is sad. I get the aspect of wanting to earn money, but closed source code maintained by a few people at a hobby level puts an upper ceiling of the quality. I would love to buy this if the code was actually open source
"The camera knows where it is at all times. It knows this because it knows where it isn't. By subtracting where it is from where it isn't, or where it isn't from where it is (whichever is greater), it obtains a difference, or deviation."