Hello,

i'm currently writing my quadcopter control software. I created this notebook to describe my hardware/software progress.

Hardware

• mbed NXP LPC1768
• Invensense MPU-6050
• BOSCH BMP085
• Hobbyking Turnigy H.A.L frame Kit
• 4xPark450 brushless motors 1200kv
• 4xHobbyking SS ESC 25-30A
• DIY PCB for sensor mounting
• DIY Power Distribution Board
• Currently without a Tx/Rx. Throttle commands are sent over Serial. i will order a Turnigy 9x in the next few weeks

Algorithm

1. Initialize Motors.
2. Initialize MPU-6050 : Gyro Scale +/- 2000deg/sec ..... Acc Scale +/- 8g ........ LPF: 44Hz Accelerometer 42Hz Gyroscope
3. Calibrate Accelerometer and Gyroscope by calculating their start up offsets
4. Flight Control Loop (running at 200Hz):
   1. Sample Acc and Gyro
   2. Sensor Fusion using Sebastian Madgwick IMU Filter
   3. Update PID and motor commands

Issues

• Code used to freeze when using default I2C library with interrupt in. currently resolved by using Prof Greg Egan I2C code :
  • http://mbed.org/users/gke/code/UAVXArm-GKE/file/90292f8bd179/i2c.c

Progress

• 29/4 Now using Sebastian Madgwick IMU Filter. Imported library from Aaron Berk but changed every double variable to float
• 28/4 Achieved good single axis stability, I term needs some work though.

Video

Video of my current PID settings. I'm applying disturbances to the system to see how well it'll react.