I have an Arduino based IMU working and reading in Pitch and Roll angles. I would like to take this data and create a stabilization program to control an RC quadcopter. I think I may be able to use the PID and Servo libraries to create a control program and output PPM commands to four brushless motor ESCs. However, I would like the Arduino to only do the stabilizaiton and I would like to use my RC transmitter and receiver to provide the pilot input (Power, Left/Right, Forward/Reverse, and Turn about Z).
My two questions are:
Does anybody have a starting point/sample code resource for implementing such a control system?
Can anybody provide some insight into how to provide RC pilot input and have an Arduino IMU stabilization? Do I need to connect Y-splitters on the 4 channels controlling the motor so that they have input from both the RC transmitter and the Arduino?
Thank you in advance for any help you can give. I have a mechanical engineering background with some RC experience but programming and electronics are not my strong point.