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Old Apr 04, 2010, 10:40 PM
kapteinkuk is offline
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Quad Whisperer
Joined Jul 2008
953 Posts
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.
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