1.How to use this project:

Step 1: Generate code from my_quadcopter_project.ioc file.

Step 2: Use make command to compile code.

Step 3: Use make flash command to upload code.

2. The conventional angle for quadcopter.

Image Source: Joop Brokking.

3.The algorithm to calculate angle for mpu6050.

Image Source: Phil’s Lab.

4. How PID controller works.