wow lot of question no i have no experience of flying a quad coptor , yes all the code i wrote was written by me from scratch took me a quiet long time ,i have gone through the DMP programme in i2c dev ,but i wanted my program to be as short as possible ,so i took on my own ,and besides i couldnt find any article on Xbee quadcoptor ,except one in youtube where this guys uses xbee to communicate with mobile device ,so i know.its possible. Anyways about self hovering ,can you tell whats wrong with my main code ,when i uploaded the code for a fixed throttle value ,and when i tilt it to one axis say pitch to some.degree it should oppose me but ,the motors doesnt seem to work out , i dont have a clue where i am wrong ,i suspect my PId loop is taking a very long time to process, and am i getting the right idea of pid process as shown in the picture ??
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