{"id":34369,"date":"2023-03-04T20:06:10","date_gmt":"2023-03-04T14:36:10","guid":{"rendered":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/"},"modified":"2023-03-04T20:06:10","modified_gmt":"2023-03-04T14:36:10","slug":"solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed","status":"publish","type":"post","link":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/","title":{"rendered":"[Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed]"},"content":{"rendered":"<p> [ad_1]<br \/>\n<\/p>\n<div id=\"answer-41230217\" class=\"answer js-answer accepted-answer js-accepted-answer\" data-answerid=\"41230217\" data-parentid=\"41214869\" data-score=\"0\" data-position-on-page=\"1\" data-highest-scored=\"1\" data-question-has-accepted-highest-score=\"1\" itemprop=\"acceptedAnswer\" itemscope itemtype=\"https:\/\/schema.org\/Answer\">\n<div class=\"post-layout\">\n<div class=\"votecell post-layout--left\"><\/div>\n<div class=\"answercell post-layout--right\">\n<div class=\"s-prose js-post-body\" itemprop=\"text\">\n<p>I don&#8217;t have the exact sensor as you, but this code is a snippet that I&#8217;ve been working on. You can look at it&#8230; Maybe it could help. If it did, then good \ud83d\ude42<\/p>\n<pre><code>\/*\n\n  Project goal:\n\n  Arduino built quadcopter.\n\n\n\n  Motor diagram:\n  Legend:\n\n  num : motor number\n  -&gt;  : clockwise\n  &lt;-  : counter-clockwise\n\n  2  -&gt;     &lt;-  1\n    \\         \/\n      \\  -  \/\n       |   |\n      \/  -  \\\n    \/         \\\n  3  &lt;-     -&gt;   4\n\n  By   : Dat HA\n\n  Date : 2016\/11\/09\n         yyyy\/mm\/dd\n\n*\/\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\n#include &lt;Wire.h&gt;                       \/\/include I2C library\n#include &lt;Servo.h&gt;\n#include \"I2Cdev.h\"                     \/\/include another I2C library\n#include \"Wire.h\"                       \/\/include another I2C library (yes, again)\n#include \"MPU6050_6Axis_MotionApps20.h\" \/\/include the MPU6050 library\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nbool dmpReady = false;              \/\/state of the mpu6050\nvolatile bool mpuInterrupt = false; \/\/some random bool\n\nuint8_t mpuIntStatus;               \/\/holds actual interrupt status byte from MPU\nuint8_t devStatus;                  \/\/return status after each device operation\nuint8_t motorPins[4] = {3, 9, 10, 11};    \/\/yaw, pitch, roll\nuint8_t fifoBuffer[64];             \/\/FIFO storage buffer\n\nuint16_t packetSize;                \/\/expected DMP packet size (default is 42 bytes)\nuint16_t fifoCount;                 \/\/count of all bytes currently in FIFO\n\nMPU6050 mpu;                        \/\/change mpu's adress\nQuaternion q;                       \/\/quaternion container\nVectorFloat gravity;                \/\/gravity vector\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nServo motor1;\nServo motor2;\nServo motor3;\nServo motor4;\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nvoid setup() {\n  Serial.begin(115200); \/\/start serial communication\n  Wire.begin();         \/\/start I2C communication\n\n  TWBR = 24;\n  mpu.initialize();\n  devStatus = mpu.dmpInitialize();\n  mpu.setXGyroOffset(0);\n  mpu.setYGyroOffset(0);\n  mpu.setZGyroOffset(0);\n  mpu.setZAccelOffset(0);\n\n  if (devStatus == 0)\n  {\n    mpu.setDMPEnabled(true);\n    mpuInterrupt = true;\n    mpuIntStatus = mpu.getIntStatus();\n    dmpReady = true;\n    packetSize = mpu.dmpGetFIFOPacketSize();\n  }\n\n  motor1.attach(motorPins[0]);\n  motor2.attach(motorPins[1]);\n  motor3.attach(motorPins[2]);\n  motor4.attach(motorPins[3]);\n}\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nvoid loop()  {\n  \/\/controller\n  int p = analogRead(A0);\n  int r = analogRead(A1);\n\n  p = map(p, 0, 1023, -50, 50);\n  r = map(r, 0, 1023, -50, 50);\n\n  \/\/gyro\n  int motorSpeed = 50;\n  int ypr[3];\n  float yprFlo[3];   \/\/ypr as a float\n  mpu.resetFIFO();\n  mpuInterrupt = false;\n  mpuIntStatus = mpu.getIntStatus();\n  fifoCount = mpu.getFIFOCount();\n\n  if (mpuIntStatus &amp; 0x02)\n  {\n    while (fifoCount &lt; packetSize) fifoCount = mpu.getFIFOCount();\n    mpu.getFIFOBytes(fifoBuffer, packetSize);\n    fifoCount -= packetSize;\n    mpu.dmpGetQuaternion(&amp;q, fifoBuffer);\n    mpu.dmpGetGravity(&amp;gravity, &amp;q);\n    mpu.dmpGetYawPitchRoll(yprFlo, &amp;q, &amp;gravity);\n\n    for (int i = 0; i &lt; 3; i++)\n    {\n      ypr[i] = map((yprFlo[i] * 180 \/ M_PI), -90, 90, -50, 50);\n    }\n  }\n\n  \/\/print\n  Serial.print(ypr[0]);\n  Serial.print(\"    \");\n  Serial.print(ypr[1]);\n  Serial.print(\"    \");\n  Serial.print(ypr[2]);\n  Serial.print(\"            \");\n\n  \/\/motor\n  int motorSpeed1 = map(motorSpeed - ypr[1] + ypr[2], -100, 200, 90, 0);\n  int motorP1 = map(motorSpeed1,90,0,0,100);\n  Serial.print(motorP1);\n  Serial.print(\"    \");\n  motor1.write(motorSpeed1);\n\n  int motorSpeed2 = map(motorSpeed - ypr[1] - ypr[2], -100, 200, 90, 180);\n  int motorP2 = map(motorSpeed2,90,180,0,100);\n  Serial.print(motorP2);\n  Serial.print(\"    \");\n  motor2.write(motorSpeed2);\n\n  int motorSpeed3 = map(motorSpeed + ypr[1] - ypr[2], -100, 200, 90, 0);\n  int motorP3 = map(motorSpeed2,90,0,0,100);\n  Serial.print(motorP3);\n  Serial.print(\"    \");\n  motor3.write(motorSpeed3);\n\n  int motorSpeed4 = map(motorSpeed + ypr[1] + ypr[2], -100, 200, 90, 180);\n  int motorP4 = map(motorSpeed2,90,180,0,100);\n  Serial.print(motorP4);\n  Serial.print(\"    \");\n  motor4.write(motorSpeed4);\n\n  Serial.println();\n\n}\n<\/code><\/pre>\n<\/p><\/div>\n<div class=\"mt24\"><\/div>\n<\/div>\n<p>            <span class=\"d-none\" itemprop=\"commentCount\">1<\/span> <\/p><\/div>\n<\/div>\n<p>[ad_2]<\/p>\n<p>solved How to Balance Quadcopter using L3G4200 and PID controll [closed] <\/p>\n","protected":false},"excerpt":{"rendered":"<p>[ad_1] I don&#8217;t have the exact sensor as you, but this code is a snippet that I&#8217;ve been working on. You can look at it&#8230; Maybe it could help. If it did, then good \ud83d\ude42 \/* Project goal: Arduino built quadcopter. Motor diagram: Legend: num : motor number -&gt; : clockwise &lt;- : counter-clockwise 2 &#8230; <a title=\"[Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed]\" class=\"read-more\" href=\"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/\" aria-label=\"More on [Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed]\">Read more<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[320],"tags":[457,1889],"class_list":["post-34369","post","type-post","status-publish","format-standard","hentry","category-solved","tag-algorithm","tag-arduino"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>[Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed] - JassWeb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"[Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed] - JassWeb\" \/>\n<meta property=\"og:description\" content=\"[ad_1] I don&#8217;t have the exact sensor as you, but this code is a snippet that I&#8217;ve been working on. You can look at it&#8230; Maybe it could help. If it did, then good \ud83d\ude42 \/* Project goal: Arduino built quadcopter. Motor diagram: Legend: num : motor number -&gt; : clockwise &lt;- : counter-clockwise 2 ... 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You can look at it&#8230; Maybe it could help. If it did, then good \ud83d\ude42 \/* Project goal: Arduino built quadcopter. Motor diagram: Legend: num : motor number -&gt; : clockwise &lt;- : counter-clockwise 2 ... Read more","og_url":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/","og_site_name":"JassWeb","article_published_time":"2023-03-04T14:36:10+00:00","author":"Kirat","twitter_card":"summary_large_image","twitter_misc":{"Written by":"Kirat","Est. reading time":"2 minutes"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Article","@id":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/#article","isPartOf":{"@id":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/"},"author":{"name":"Kirat","@id":"https:\/\/jassweb.com\/solved\/#\/schema\/person\/65c9c7b7958150c0dc8371fa35dd7c31"},"headline":"[Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed]","datePublished":"2023-03-04T14:36:10+00:00","mainEntityOfPage":{"@id":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/"},"wordCount":61,"publisher":{"@id":"https:\/\/jassweb.com\/solved\/#organization"},"keywords":["algorithm","arduino"],"articleSection":["Solved"],"inLanguage":"en-US"},{"@type":"WebPage","@id":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/","url":"https:\/\/jassweb.com\/solved\/solved-how-to-balance-quadcopter-using-l3g4200-and-pid-controll-closed\/","name":"[Solved] How to Balance Quadcopter using L3G4200 and PID controll [closed] - 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