i built quadcopter from scratch, including flight controller written in C and run on raspberry pi 3.
there have special design and battery is all over the body tubes and inverted props.
first please see my video:
The problem is i feel like the quadcopter is still not enough stable to flight.
I think the problem has this options:
1. The design not including a major center of mass (like battery in normal quadcopter) so is more difficult to balancing. this option can be the problem?
Center of Mass contributes to "natural stabilization"?.
2. Something in my code program, in the part of PID controller maybe not work good.
but I think that is not the problem because I read about it a lot on the internet.
the program read orientation data from 9DOF IMU chip, PID controller use the gyro data (multiplied by gain) and the calculated the hybrid of gyro & magnetometer & Accelerometer data.
as this structure:
3. maybe a conventional PID controller is good for quadcopter with "Center of Mass" but not for Nearly equal mass quadcopter of me?
please help me,