Finally, heading controller is complete. Simple PSD failed during tests, so state space controller with zeroing steady state deviation has been used. The controller utilizes angular velocity and heli heading.
Roll and pitch controllers will follow.
Plus first piece of source code is available for download.
It contains basic peripheral control. It has been written in C++ for Linux :).
- PWM – PWM ouptut
- ECAP – captures eCap PWM input
- UART – basic UART functionality
See Download section for more information.