This is one of a series of posts chronicling my attempts at implementing a Multi-rotor aircraft...
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In an effort to really understand the mechanics of the flight control system, I have decided to design and implement the software myself using an Arduino rather than purchasing an off-the-shelf flight controller. In What is a Quadcopter, I covered the physics of quadcopter flight. Here, we’ll dive into a deeper understanding of how to implement this control with an Arduino.
This post illustrates the implementation of a multi-rotor flight control system with a focus on the PID controller algorithm. If you missed the first post, you can find it here.
In order to determine the orientation of the quadcopter, we read data from the inertial measurement unit or IMU. The IMU is a collection of sensors and is typically comprised of at least a three-axis accelerometer and a 3-axis gyroscope and sometimes can employ magnetometers, barometers, and other sensors to supplement these.