4pcb: √ Control Law
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Uploaded by scolton13 on Dec 27, 2011
My PCB quadrotor, with a tweak to the control law. The motor commands are run through a square-root function, normalized to one. This creates an output that is more proportional to force (or so I've been told). It definitely feels easier to control - less jittery and easier to maintain altitude manually.
More info: http://scolton.blogspot.com/p/flying-things.html#4pcb
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