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I build my quadcopter by using raspberrypi, MPU-6050 and PWM generator on attiny2313. All code is my except piece (i get it from opensource project from another quadcopter) responsible for calculating engines power to stabilise self/go in right direction. On low power engines seems to work good...

I build my own QCopter but i have a huge problem to write software to control him :). I tried a lot of stabilisation code from various projects, but none works good enough. My friend recommended me ArduPilot, because it’s software works good and smooth in a lot of projects. But repository is...