This quadcopter is constructed with brushless motors, ESP32 and MPU9250 (9-axis sensor). Madgwick Filter software module on Github is used for posture estimation(https://github.com/arduino-libraries/MadgwickAHRS). Feedback from the posture estimate to the motor output is controlled by PID.
, https://i.ytimg.com/vi/KIt8LpW8Ajs/hqdefault.jpg
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2021-12-26