Erik van de Coevering / Mbed 2 deprecated Multicopter_2018

Latest version of my quadcopter controller with an LPC1768 and MPU9250.

Dependencies:   mbed

Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.

Diff: main.cpp

Revision:
4:fab65ad01ab4
Parent:
3:a49ab9168fb2
Child:
5:0f4204941604
--- a/main.cpp	Tue Jul 10 13:19:53 2018 +0000
+++ b/main.cpp	Thu Jul 12 13:53:55 2018 +0000
@@ -1,3 +1,5 @@
+// Coded by Erik van de Coevering 
+
 #include "mbed.h"
 #include "MadgwickAHRS.h"
 #include "MAfilter.h"
@@ -272,6 +274,7 @@
 				temp3 = temp2*temp;
 				
 				// Temperature compensation
+				// Derived from datalogging gyro data over a wide temperature range and using the fitting tool in Matlab's plotter
 				tempcomp[0] = -1.77e-6*temp2 + 0.000233*temp + 0.02179;
 				tempcomp[1] = 0.0005727*temp - 0.01488;
 				tempcomp[2] = -2.181e-7*temp3 + 1.754e-5*temp2 - 0.0004955*temp;