13 | This 170-line Arduino code is a drone flight controller

Full code available on GitHub: github.com/CarbonAeronautics/...
In this video, you will explore the full flight control code that stabilises your quadcopter drone.
The purpose of this video series is to learn the basics behind a quadcopter drone and enable you to build one yourself, by dividing this challenging project in several easy-to-understand parts. You use the capable Teensy 4.0 microcontroller together with the easy-to-use Arduino language.

[@one_bone_4_life647]

You may not see this, but thank you for developing a safe system. Avoiding integral windup and having a cut-off throttle value has probably kept me out of dangerous situations while learning PID with a larger Quad Copter.

[@RahulKumar-jm4yw]

awesome tutorial
very detailed and informative,
thanks 👍👌

[@anilsuha5301]

awesome. Keep doing similar😃

[@hoanganh_.207]

So awesome videos , but i have a question is why you use analogWrite for the brushless instead of using servo.write in servo.h , that can transmit the PPM to the motor ?

[@AbdelrahmanSalah]

@carbonaeronautics appreciate the well organized and detailed approach you took in this project, the sheer amount of time & effort is admirable.
I have a question regarding the values you choose for the clamping saturation limit for the integral, 400 & -400, how did you calculate this value? are those specific to the motors you use?
Thanks in advance

[@salaheddinemoujane9446]

First i want to thank you for all of this efforts, i just wanna ask about when you wanted to convert from deg/sec to micro sec you multiplied motorinputs with 1.O24 and i don't know from where did it comes?!

[@sandeeppatra4]

really apricate ur work
u got another subscriber and a true fan

[@carbonaeronautics]

Thanks a lot! 😀

[@yoyolebg6380]

Hi, I am using an Arduino Nano instead of the teensy. When I try the code, the IDE tell me that the function analogWriteFrequency and analogResolution are out of the scope. Is this due to the fact that the PulsePosition Library suits for Teensy only ? And if yes, how should I change my code to change the PWM frequency to 250 [Hz] for the Arduino Nano ?
Thank you in advance and awesome video !

[@SachaMartincourt]

Same question here !

[@karlam8687]

Could one disable the throttle and roll of a drone controlling system to make something move using just two degrees of freedom instead of 4?

[@karlam8687]

I'm sorry if the question sounds a bit basic. I just need the info because toy car controllers have a very small distance range for the application.

[@maximebiloa6071]

Hi sir, i'm using ESP32-S. It's bad for this project ?

[@rajasriram6578]

hi can i use arduino uno to do the codes?

[@satyananda4389]

Cool project sir👍, I want to ask something. Where did you know the length of one iteration time in your loop is 4 ms (for Ts value of I and D term)? and also how to calculate it?

[@Tom-wd2ee]

guess he just set the loop time as most ESCs run at 250Hz
And T=1/f

[@satyananda4389]

@@Tom-wd2ee Ohh I see, thanks

[@steve00alt70]

​​@@Tom-wd2eewhat is T=1/f mean?

[@mohamedbensalem6236]

@@steve00alt70 mathematical relation between frequency and the period

[@thorverhoeven3426]

i can't find the full code on github please someone help

[@EugenePham]

Hi sir! Can i use Arduino Uno R3 instead of Teensy

[@carbonaeronautics]

Yes that is possible with some small changes to the code, however it might be easier to use the Arduino nano in order to avoid cable connections as much as possible. Also know that the Arduino uno or nano are not powerful enough for the more complex flight controllers we will see later on.

[@EugenePham]

@@carbonaeronauticsThank you very much for your kind comments, best of luck to you 😁

[@priyanshuwaghdhare5458]

Can we replace brushless motor with brushed motor and esc with mosfets for controlling brushed motors without changing the code

[@farisalfianto01]

i use the teensy 3.2 output the motor it only works on pins 3 and 4, can other pwm pins really not work on teensy 3.2 ?

[@carbonaeronautics]

You can use pins 9 and 10 if you want to use teensy 3.2, instead of pins 1 and 2!

[@farisalfianto01]

@@carbonaeronautics thanks