How to Write your own Flight Controller Software — Part 4

What’s Next?

Figure 1. Quad PID Approach 1 — Pitch, Roll & Yaw Angles.
T = k⍵where T = Thrust (force), k = constant (drone dependent) and ⍵ = angular velocity.
Figure 2. Cascading PID Approach 2 (angle and rate).

Iterating the Design

Rate Mode

Stabilize Mode

Motor Mixing

Figure 3. Motor Mapping and Direction.
Figure 4. Motor Mixing Algorithm.

Flight Code

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