sieuwe1/Autonomous-Ai-drone-scripts ? reverse-engineered prompt

Build me a Python project for an autonomous quadcopter that can run on a Jetson Nano and work with ArduPilot. I want it to have two main modes, one for following a person using a live camera feed and LiDAR, and another for autonomous point to point flight with obstacle avoidance style behavior.

The person following part should detect a person from the camera, keep them centered by steering yaw, and use the LiDAR distance to control how close the drone stays. It should use simple PID control and save debug data so I can inspect how the controller is behaving later.

It should also be easy to test in ArduPilot SITL before trying it on real hardware. If you need to look up current docs online, feel free to. Please make it practical, with a main script I can run, clear setup steps, and a way to safely stop and land the drone when I exit.