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I2C SCL 19
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I2C SDA 18
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PPM in (receiver) 3
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Rotor 1 22
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Rotor 2 23
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Rotor 3 9
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Rotor 4 10
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Rotor 5 6
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Rotor 6 20
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Rotor 7 21
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Rotor 8 5
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Orientation lights / Armed-Disarmed indicator 14
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Battery Monitor (current sensor) 17
- Initial raw data from sensors (read every 1ms = 1000Hz) is being averaged by a simple averaging filter
- Averaged data from sensors are being processed every 10ms (100Hz)
- CMP kinematitcs (my own) selected by default
- ARG kinematics (from aeroquad) is also supported (can be enabled by simple include change)
- DCM kinematics (from FreeIMU)
- Flight controller supports
- Rate (ACRO) | gyro only
- Attitude | gyro with accel corrections
- Altitute hold | barometer or sonar
- Pilot commands are being read by PPM sampling code via single PIN (with HW timer), this is the only pilot input supported for now
- Stabilization and pilot commands are mixed together by 2 separate PID controllers
- First (only used in attitude mode) mixes pilot commands with kinematics output
- Second (used in both attitude and rate mode) mixes output from first PID or raw stick input with gyroRate output
- For ESC signal output i am using an build in 8 channel FLEX timer (yes you can controll octocopter with this)
- ESC PWM signal supports both 250Hz and 400Hz update rate (running at 400Hz by default)