This project was started in , electronics and control loops. Because I always need a cool project to learn new things, it was clear that something that can fly had to be built.
The project started as a "tricopter-only" project, but as I wanted to build smaller vehicles with more payload capacity, I decided to make some quadrotor, hexacopter and Y6 hexacopter firmwares too. My main interest is to build very small MAVs that fly as good as larger ones (or even better) and that can be controlled by wireless video link. I also experimented with autonomous flight in GPS-denied areas (video), and with GPS assisted autonomous hover (video).
-- William

Contact: Shrediquette @ g m x . d e --- All content published under CC Attribution-Noncommercial-Share Alike 3.0 Germany

Firmware improvements

Changes:
  • Gyro offset measurement changed. Right after the startup, the copter tries to measure the gyro offset. If the copter is moved during this period, it won't continue with the start-up. Instead, it will flash the LED in the middle until the copter is placed on the ground. Only then it will initialize.
  • Servo control improved: The servo pulse generation is now synchronized to reading out the receiver. Additionally, it is not possible anymore that an interrupt makes the servo jitter (thx to Lutz Meyer). All servos should work much better now.

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