Quadcopter on an 18F25K20

[Ioannis]

Congrats on the great achievment! Really impressed by the into on what the firmware does.

Looking forward to details of the program.

Ioannis

[HenrikOlsson]

If I truly understood the math behind it I could probably write it in PBP but I really don't and that, my friends, is why my robot has never balanced properly for more than a couple of seconds before bursting into oscillation and crashing violently :-)
I managed to get the compensation routines for the BME280 to work pretty well on PBP and that's some pretty intense math (in my mind) but this matrix transform stuff is like black magic to me.

I think this goes to show just what is possible with PBP if you know what you're doing. Kudos Dave, really nice job!

[achilles03]

I had put some of the final tuning on the back burner for a while, but have ironed out a few bugs and tuned the control gains so it flies decently. It's a large frame with a hefty moment of inertia, so it's a little sluggish when it flies compared to smaller drones. I may trim the arms or work on the control gains to see if I can make it a little more responsive.

Here's a short test flight. Hopefully this youtube link works: