I've got the basic attitude estimator running. The Pitch and Roll drift is being corrected by the accelerometers, but I still need to use the magnetometers and/or GPS to correct the Yaw drift. The yaw drift is actually very small as you can see in the video.

Brian

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Comment by Alessandro Zupo on October 26, 2013 at 3:33pm

Hi brian,

for PID controls, in my Firmware i calculated the PID result at 200hz....but i was need to average with mobile avergare of 5 times the result for have a smooth motor output...in particular when i set the D parameters.....you think is bad idea to average the value?? Now i'm searching alghoritm for auto altitude hold and GPS hold....do you have any idea where search??

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