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Hi All,

I am working on a quadrotor project. With the help of 32 bit 72mhz IC, i am doing 300 Hz attitude and speed control. I made the IMU card with ITG3200, ADXL345, BMP180 and HMC5883 sensors. 
I am using AXI 2217 BL motor and MK ESCs via UART. We also use HiModel PWM esc with up to 400 Hz PWM update rate.

My problems are:

1- I can control the vehicle by hand easily (not as much as Parrot AR Drone !!!), but when i put my hands off of the transmitter (Futaba 10C), it drifts in X and Y axis; and then it stops and go other direction with high speed and the oscillation increases. After some googleing, i found a trick and set the internal filter of ITG3200 gyro to 42Hz (was 256 Hz). After applying the new gyro filter, it helped a bit but the problem still exists. 
My transmitter stick limits between +90 and -90 degrees and the transmitter angle inputs directly goes into the controller.


2- I've looked at the ITG3200's output and see some noise. After powering off and on again; noise has been removed and saw stable output. (Note: i remove the GYRO BIAS after 5 seconds of collecting sensor data). I mean the noise is not predicable; and exists sometimes.



Any help will be appreciated.