Theory

This is a walkthrough of the theory behind how our program works.

The high level flow for stabilizing the Quadrotor works something like this:

1: Measure the Current Orientation

2: Compute the speed difference in the motors that will help us get to our desired orientation

3: Write the new motor speeds

4: Repeat

It's a pretty basic flow, but it starts to get a bit more complex when we go lower level. Click on the links in the list above to dive into more detail about what happens.