This is the source code of the flight controller software for a ChipKit Uno32, that we used in our drone project for the IS1500 Computer Science & Components course at the Royal Institute of Technology in Stockholm, Sweden.
The drone receives input from the gyro (see gyro.c) and the controller (see timer.c) and uses the PID control algorithm to balance the quadcopter (see pid.c).
If you have any questions, open an issue or email us at matas.kairaitis@gmail.com
The code is based on the project-template. The template contains the following source files:
main.c: Contains the entry point main()
vectors.S: Contains the interrupt handler and the exception handler
stubs.c: Contains stubs for functions run during micro controller initialization