Hey, are able to add a license to this project?

Short question, in your code you use nalogwrite instead of the servo lib or other PWM code.
What kind of motor controller do you use? I don't think that ESC will wot without PWM?

f41ardu

Hi,

Really, it is very helpful . Thank you so much Mr. Baselsw.

I bought Leonardo, ADXL345 and L3G4200D chips separately, I don't have IMU. Could you explain to me how the connections and the code will differ from your code , please? Both of the chips use I2C.

Best Regards,
AsMoh

In the file "BlueCopter/libraries/MPULib/MPULib.cpp" in the function "readCmd()", there is a while-loop after the Wire.requestFrom(). That while-loop can be removed, there is nothing to wait for.

When Wire.requestFrom() returns, the I2C transaction has completely finished and the received data is waiting in a buffer in the Wire library.

when trottle change effect of PID values also changes too how did you manage that?

For example when throttle is 1200 and when 1600 effect of PID is very different so that there is no optimum PID values for all Throttle range