I think I have busted a few brain cells, but here is the new V4
The good news:
- Works with any
4 channel or more reciever. Any channel order.
- Higher control loop frequency, 160Hz
, much more stable.
One drawback is hardware changes:
- Reciever connect to different pins than V3. It had to be done to use the external interrupts.
- Had to add 3 capacitors to act as gyro filters. (forming a RC filter with the 6800 Ohm resistor on the gyro boards) My software filter did not perform good enough due to slow hardware.
I tested it on my smallest quad, which was a bit unstable. Now I could double the gain without oscillations and it is rock stable!
Video will follow.