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 (when banking left - left engines increasing speed, right - slows down and so on...) but when i'm about to flight he gets crazy. At the start he banks hard to the left, after that he pulls hard to the random directions. If anyone need i can upload movie how he behavies.
Code is in attachment.
I'm so frustrated that i can even pay for help.
Sorry for my bad English
On low power engines seems to work good (when banking left - left engines increasing speed, right - slows down and so on...) but when i'm about to flight he gets crazy. At the start he banks hard to the left, after that he pulls hard to the random directions. If anyone need i can upload movie how he behavies.
Code is in attachment.
I'm so frustrated that i can even pay for help.
Sorry for my bad English