Control loops

Quadcopter PID loops

Quadcopter attitude, vertical acceleration and rotation around the vertical axis (yaw) is controlled by several PID loops, one or two for each axis and one for vertical acceleration. Attitude control relies only on a gyroscope and a accelerometer. Yaw rotation using gyroscope and a mangnetometer readings. Vertical acceleration is measured only by accelerometer.

Attitude

Yaw rotation

Vertical movement

Getting final value for each motor's power