I dont want to litter the place with nonsense, but I'm trying to learn and have hit a brick wall. I took Jean-Louis' tricopter code which runs on IMU V2 and tried many different ways to add IMU V3. I assembled a PPM encoder, Cut up an old GWS Rx for the pins, made all the connections, modified the code the best I could and it almost works. The almost part is driving me crazy.
The problem is when the MPU6000_Init() is added, it stops communicating with the Rx and the ESC's. If I take that out of the code, the ESC's arm and I have control of throttle and sticks.
I see that Ardupilot 2.7.1 has fast medium and slow loops. The way this IMU/copter is written it has one loop running at 70 Hz.
The first question seems to be how do I divide up the time? Will that even solve the problem?
What are the principles behind that? Do I just follow how Ardupilot did it and hope I get lucky?