I am looking through the .ino files for the Arduplane trying to find the code for the stabilization of the airplane. I am wondering if there is some sort of differential equations within the code that is solved for.
I hope that they have those equations which include the pitch, yaw, and roll rate from the gyroscope that are being solved continuously for the flight stabilization.
I want to take those values and include them in a flight mode I am creating for automatically dropping a care package.
We hope to use the GPS/waypoints with the stabilization to calculate when to release the payload.
I am just having trouble finding the values or names of the variables within the code to send in my new file.
Any code gurus or developers on here?
Thanks in advance,