Hello forum,

     I am trying to make an autopilot for a quad-rotor-heli. I just got started on my work and would like to know how to go about it? I just bought (or already have) these items for the auto pilot

1. MMA7361 3-axis accelerometer

2. LISY300AL 1-axis gyro

3. LPR530AL 2- axis gyro

4. HMC6352 magneto

5. Arduino 2560

Initially i'll be implementing these on a prototyping shield for the mega. Any and all help is much appreciated.


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Making the IMU (more accurately an AHRS, since you have the magnetometer) should be pretty straight forward, combine the data from all three sensor types using complimentary filtering or Kalman filtering. Be careful about the rotation matrices though...


Building a full autopilot from scratch won't be easy, suggest you (or hopefully your team) have a look at some others first so you can get an idea of how they work.



Alright, sounds simple.. Me( or rather my team of 5) are working on the code as we speak.

I see you suggest we reverse engineer. In that case, which AHRS should I be modelling on?


Could try the one that the ArduCopter is using, since it is open sourced and proven to be functional.


Of course, be sure to apply generous amounts of citations, and if you feel like contributing to it go right ahead. :)

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