Hi Henrik,

thanks for the file and the link. I downloaded all the stuff from the nuts 'n volts FTP server. Obviously these guys creating B-Bot have adapted some code originally developed for the helicopter autopilot on sourceforge. Thank you again.

Regarding my implementation: no, I am working on a C-code implementation for the ATMEGA16 to be compiled with win-avr or gcc, resp.

When you adapt my formulas for the tilt angle from accelerometer data, please care for the fact, that the accelerometers have different sign for dynamic and static acceleration. This fact is not yet considered in my formulas. So the sign of "a" must be inverted for the real measurements.

Have you done any work on implementing my formulas?

Kind regards, uffi.