This is the sequel of my previous post, that I had to abandon more than 1 month ago, without actually being able to fly it... Ok, it's still not flying, but after:
I'm back in business ! :) And to prove it, here are 2 videos that show some proper balancing !
Actually, all this was only so that I can update the code, to feed the gyros raw data directly into the PID controller algorithm (only for the D part), as using solely the Euler angles from the DCM transformation is too slow to react...
Again, it's not yet flying, but looks much more promising than 1 month ago... wish me luck ! :)
HERE you can find more details and the full history of this build...