hi i am building a tricopter, i am making the flight controller out of an arduino and have a few questions.
1.> so i assume the esc should be doing the following
left esc = throttle + pitchpid/4 + rollpid/2
right esc = throttle + pitchpid/4 - rollpid/2
tail esc = throttle - pitchpid/2
2.> since the esc have a frequency of 50hz, the maximum pid calculations should be 50times per second right.
3.> are the pid constants going to be different for pitch and roll? as tricopters are unlike quads.