quadcopter

quadcopter control code

There are three main functions :

• Compute IMU data (gyroscope and accelerometer) and fuse it to a single absolute orientation (in degrees)
  ->made inside the IMUsensor class (IMUsensor.cpp / IMUsensor.hpp)
  

• Compute commands to stabilize the quadcopter, using the orientation from the IMU and the altitude from the Ultrasonic Module and a PID algorithm,
  -> made inside the PID class (PID.cpp / PID.hpp)
  

• Compute motors controls using the PID commands.
  -> made inside the MotorManager class (motormanager.cpp / motormanager.hpp)