Why I can not stablize quadcopter?

Hi thereI working on a quadcopter with special featureMy idea is that making quadcopter easy by using smartphone on it. Since smartphone have quadcopter requirment like accel, gyro, gps,magnetometer, barometer and ... I decide to use it.Quadcopter has a frame with 50cm diameter and 4 AIR2215 motor and 4 AIR20A ESC and an arduino micro that communicate with smartphone on quadcopter via bluetooth (hc-06 module). Smartphone role as flight controler and use its own sensor and pid library to generate 4 motor pwm and send them to arduino. Smartphone on the quadcopter also connected to a web server (my laptop in this case) and recive setpoint from it. I also have another smartphone that use it,s gesture as RC to control the quadcopter. Connection between the RC and flight control is real time.Everything is ok and logic of system works like a charm but I cant stablize the quad! I don't know what is wrong! I thing something is slow! Maybe bluetooth has limit!Sensor reading and PID sample rate is about 60-70HPlease help me what is the problem?Thank you.

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  • Often phone are stuffed with sensors that no longer can be sold on the selves. Other I know when using follow me find there phones GPS is to cheap and nasty. Congratulation, taking on this challenge, it is do able and requires skills in many arena's, So your my sought of thinker. Stabilisation makes me think perhaps PID settings or the phone sensors are suffering badly from micro vibrations. But in all honesty It would be cheaper to buy the sim600 or sim900 board and plugging the Tx and Rx into the telemetry line and use Tower on your local phone. The fact that all drones crash some time could be a mistake to have such an expensive brain on board.

    I pulled off flight and stability with sensor readings at minimum 20 times a second, 5 milliseconds. 

    My self I fist wanted to build disposable drones and do it under $100 US. I did it.

    I duplicated everything from brain to software. The short story is sometimes it doesn't pay to reinvent the wheel and nor could you do it cheaper.

    But bloody choice that your pushing your knowledge and learning. So few do this. Most excellent.

    PS sim600 - sim900 keep looking if you can't find them for less than $65 US. Hint (Aliexpress)

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