Quad Rotor control with mbed

Here is a video of it flying while being held down /media/uploads/Ryan/img_0735.mov

List of Parts

Q450 Glass Fiber Quadcopter Frame 450mm - Integrated PCB Version
HobbyKing ECO6 50W 5A Balancer/Charger w/ accessories
Turnigy dlux 20A SBEC Brushless Speed Controller w/Data Logging (2s4s)
Turnigy 3300mAh 3S 30C Lipo Pack "I changed this to a 2,200mAh 4S battery"
NTM Prop Drive Series 28-26A 1200kv / 250w

Specs

Stable flight is some where around 0.00139ms pulseWidth and it pulls 14.7amps so 2,200/1000/14.7*60= about 8.97 of flight time.

Diff: main.cpp

Revision:: 0:fe6280c7a52f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 17 14:18:42 2012 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "stdio.h"
+#include "stdlib.h"
+#include "string"
+AnalogIn Volts(p20);
+PwmOut BLDCM1(p21);
+PwmOut BLDCM2(p22);
+PwmOut BLDCM3(p23);
+PwmOut BLDCM4(p24);
+Serial pc(USBTX, USBRX);
+
+//red right p21
+//blue right p22
+//white left p23
+//red left p24
+
+// -----------> Make SURE!! each ESC is grounded on mbeds ground!!!!!!!!!! <------------
+
+
+float val;
+
+int main() {
+    val =0.001;
+    // Most ESC take standard servo commands so that is a 50hz signal and listens between 1ms and 3ms pulsewidth
+    BLDCM1.period_ms(20);
+    BLDCM2.period_ms(20);
+    BLDCM3.period_ms(20);
+    BLDCM4.period_ms(20);
+    ////////////////////////////////
+    while (1) {
+
+
+        //Initailize motors
+
+       if(pc.readable()){    
+       switch (pc.getc()) {
+            case 'u':
+                val += 0.00005;
+                break;
+            case 'd':
+                val -= 0.00005;
+                break;
+            case 'w':
+                val += 0.00001;
+                break;
+            case 'x':
+                val -= 0.00001;
+                break;
+            case 's':
+                val = 0.001;
+                break;
+            case 'm':
+                val = 0.0018;
+                break;
+        }
+        }
+           
+        BLDCM1.pulsewidth(val);
+        BLDCM2.pulsewidth(val);
+        BLDCM3.pulsewidth(val);
+        BLDCM4.pulsewidth(val);
+        wait(0.25);
+        pc.printf("Volts (%f) Pulsewidth (%f) RPM (%f) \n",(((val*1000)*12)),(val),(((val*1000)*1200)));
+
+    }
+}
\ No newline at end of file