How to Write your own Flight Controller Software — Part 7

This article covers the Attitude and Heading Reference System (AHRS), IMU Filters and Sensor Fusion. We have released the open source Nexgen AHRS Arduino library to demonstrate these techniques on the Nano 33 BLE. It is available for download using the Arduino Library Manager.

In Part 5 of this series, we explained how to calculate raw roll, pitch and yaw angles from IMU data. In parts 3 and 4 we spoke about the PID control loop (Figure 2) that we will use to control the drone motors. In this article we will explore options for…