I’ve been building a micro quadcopter. The main body is about 4.5cm long, and 4.5cm wide. The body is made from the PCB. It uses an ATmega 328 running at 16mhz, I am using a 3.7V/ 400mAh LiPO. I know the ATmega is running out of spec, but I only use it above ~3.8V. I have all the motors working, and even have PID working. I am able to tilt the quadcopter using my hands and feel it trying to correct its angle.
I initially had a problem with the hardware, the power management was lacking, causing me to solder in through-hole decoupling capacitors at key points on the board.
Here are some pictures:
The problem is that I’m not able to get it off the ground stabilized. Right when it turns on it leans to one side and flips. I am sure that the propellers are on the correct way, and the all the hardware works. I just want to know what you guys think?
Orange propellers face forward
I have also attached the main code (DMPsensortest.ino)
DMPsensortest.ino (15.1 KB)