Arduimu and ardupilot hardware, with my own code. all control loops are simple PID. Position feedback using Optitrack system.
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https://www.youtube.com/watch?v=MdQxBZTAv4Y
Its based on Arduimu - flat version.
Everything works at 50hz.
I used SPI to communicate between the CPUs.
Stabilization is simple gyros(drift corrected) feedback loop.
However when I tried adding proportional component to the stabilization (using the euler angels from the IMU) Icouldn't get reed of the oscilations... I gess its becouse of the delays...
any suggestions/comments will be appreciated!
