"I hang out in Plymouth area and am also a mechanical engineer.

Joop's code is great for learning some of the basic concepts of level flight, but it it not a good place to start if you actually want to make something fly well.

My code is really…"

"A couple of tips:

  Gyro integration speed is critical to stability (400Hz is reasonable for an 8bit micro).  Drift correction can happen at a slower rate to save computation time (~100Hz).

  You have to translate Mag, and Accel readings from…"

"If it wasn't for the move to NY, I'd be all over this."

"5-20ms delay is huge.  You should be under 1ms.  Racing quads start their esc pulses less than 10us after the values are computed.  Most quads out today are sending motor speed updates at a rate of 400 to 4000 times per second (and higher).  It…"

"I can't watch the video at the moment, so I may be able to add mroe later.

As long as the motors each carry roughly the same load, that should not be the problem.  Weight does not add stability to a quad.  Best stability is acheived when moment of…"

"lol.  That's all I could think when reading the usage requirements."

"Oh, and very cool link."

"If all you want is what I would call "short term dead reckoning", then that is very doable.  ArduPilot does this already.

  I got into this by wanting to write my own drone control software and incorporate long term dead reckoning into it.  Many…"

"I've tried this and current gen of mems gyro/accel are not nearly good enough.

I performed the follwing test:

Attached the sensor to a granite slab so it couldn't move
Measured the sensor bias in all six axii
Integrated the output

In a minute it…"