Part 8: Control Laws!!!!!

List of parts to blog:
Part 1: Quadcopter Design
Part 2: Integrating rc Transmitter and Receiver with Arduino
Part 3: ESC and motors (wiring and code)
Part 4: Sensors (reading in raw data and applying calibration)
Part 5: IMU - Kalman Filter Orientation Estimator
Part 6: Discussion on Arduino Boards
Part 7: Designing a shield for the Due
Part 8: Control Laws!!!!!


Part 8: Control Laws!!!!
my favorite part, designing the control laws to fly the quadcopter


I started with a simple PID control law based on both attitude (angles) and rates. What I have right now is controlling pitch and roll angle and for yaw controlling yaw rate. I'll include a more detailed diagram later, as well as the code.