Today was a big day: The first real test of the Quaternion based controller. It was some work to get it to work as expected, as an example a program to calibrate the speed controllers was needed so some time was put into that.
After guessing the gains of the controller I started it up and it worked! As shown in the video (this is the first actual start up, none before this one) it really works! It is programmed to go from "flat" to about 60 degrees angle and it does it really well. There is a constant offset because of one of the engines being some what broken but it still works! Now it time to start tuning the controller!
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