Hello guys!
I'm making micro-sized quadcopter for embedded system eduction in Korea.
I've designed frame and nano-based FCU(Flight Control Unit).
It contains MPU6050 and HC-06 bluetooth module and four DC motor driver.
I think that theory is perfect.
All the hardware works well, and Control through bluetooth also works well!
But I can't control attitude of this micro-quadcopter.
I attach photo of FCU, video and source code from Github.
Here is photo of my FCU :
This is Arduino-Nano based FCU, and MCU use ATMega328P-AU(16MHz)
I've connected motor to PWM pin which is 6, 9, 10, 11.
I know that pin6 has different PWM frequency from other pins(9, 10, 11)
But, I've changed all PWM frequency to 977Hz
This is source code from Github
And below is video of my quad
Please help me!
IF YOU NEED this FCU, I will send it to your home by EMS or FeDEx