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quadcopter

quadcopter management code

There are 3 majors functions actually :

  • Compute IMU sensor data (gyroscope and accelerometer) and fusion them to a single absolute orientation (in degrees)
    -> it is made inside the IMUsensor class (IMUsensor.cpp / IMUsensor.hpp)

  • Compute command to stabilize the quadcopter, using the orientation from the IMU and the altitude from the Ultrasonic Module and a PID algorithm,
    -> it is made inside the PID class (PID.cpp / PID.hpp)

  • Compute motors controls using the PID commands.
    -> it is made inside the MotorManager class (motormanager.cpp / motormanager.hpp)

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