heli-controller v2.4.3

changes:

• Using vector cross product to determine orientation error during self-upright mode. This applies corrections about all three axes to maintain heading.

heli-controller v2.4.2

changes:

• use IMU angles as integral term in self-uprighting mode.
• removed gyrodyne mix.

version 2.4.1

Changes:

• Added separate phase angles for angular damping and static torques
• Added support for additional tail rotor to Gyrodyne yaw and thrust control.

heli-controller v2.4

changes:

• added attiny dependecy to readme
• changed readme sentences, fixed typos

heli-controller v2.3

changes:

• Reorganized readme. Added clearer section seperation and made senteces clearer.
• Moved images to common folder.
• added fritzing diagram source file

heli-controller v2.2

Changes:

• Added Trim angles for autolevel
• Reorganized setup and calibration

heli-controller v2.1

Changes:

• Added option to reverse PID deflection per axis.
• Made signs of autolevel gains positive if the PID has the proper sign.
• Additional comments on how to setup gyro and accelerometer.

heli-controller

Changes:

• Divided code into header files.
• Included "basicMPU6050" and "imuFilter" libraries to handle gyroscope and accelerometer.
• Added self-uprighting correction via accelerometer.
• Simplified RX signal interrupt routine to reduce servo jitter. Reduced interrupt conflicts.
• Added Alpha-beta filter to obtain derivative of gyro signal. Much smoother and lower noise output.
• Configured tail rotor output to command bi-directional ESC.

heli-controller

Initial release. Controller Jitter due to interrupt conflict with servo pwm outputs.