1. IntroductionThis Arduino sketch provides a flight controller for an X quadcopter based on an Arduino Uno board and the MPU6050 sensor. Basically, this automation routine is an implementation of a digital PID with a refresh rate of 250Hz. The method used to calculate PID coefficients is Ziegler Nichols method. The frame of the quadcopter is based on the F450.
- Arduino libraries: Wire
3. Pin connection:
4.1 Remote configuration
By default, this sketch uses the mode 2 for RF remote, according to the following picture:
The channel mapping is then :
5. Quadcopter orientation
- well commented
This sketch comes with a safety process : to start the quadcopter, move the left stick of the remote in the bottom left corner. Then move it back in center position.
To stop the quadcopter, move the left stick in the bottom right corner.
8. Change Log
------------ VERSION - 1.0.0: Release on 10 Decembre 2018 ------------ [+] Initial Release