A simple approach on implementing IMU sensor fusion in PID controller for stabilizing quadrotor flight control

摘要

This paper discussed about a simple approach for implementing well-known PID controller in microcontroller for quadrotor project. This controller will be used for stabilizing the quadrotor while in flight. Towards to stabilize this type of air craft, sensors must be used as the feedback for PID controller. A new method in sensor fusion and inclination angle estimation is discussed in this paper. A simple system architecture for controlling four motors also included as a reference for the flow of the programming sequence. Single axis test has been done with result to prove this method and discussed in this paper.