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)