Some weeks ago I posted about my quadrotor proyect and showed a video with the Roll controller on a testbench.
Now I'm working with the yaw controller. I build a simple testbench to test the behaviour of the controller. As I said before, I am implementing a digital PID on the arduino MEGA, and I use Labview just to send the commands and visualize the behaviour of the quad.
Here is a small clip of how the yaw controller is working right now. I still have to improve it, but I think I'm getting there. Please feel free to comment or ask any question.
I will add some pics again for those who didnt see my previous post.