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Hello!

I'm making micro drones using Arduino Nano,

I'm using MPU6050 and bluetooth module to control drone.

But there are serious error on my drone.

My drone(quadcopter) going up well, but it makes eccentric circle

I've attacted my source code which is based on Arduino,

Please help me!

Thank you.

Educopter_Flight_Software_Ver_0.95.zip