HI AllI drive vtol ducted fan dynamic model. my problem is board. It generates regular noise pulse that changes the pulse (pwm) that generates from my code and tremble my control vanes and servo.my guess is that this problem i because of one line in code that its name is ,registery, that generates noise .I cant erase it because this work interrupt imu sensors reading and my lqr code doesnt work.For reading oilpan IMU I use oilpn simple test.pde and feedback it to servos.Thats MY PROBLEM!See More