A Micro:Bit Quadcopter Balancing in the Roll Axis on a Rig

This is just a taster of progress on our Micro:Bit quadcopter. I've been working on this for a very long time and it's finally starting to work. I have a standard micro:bit with a BNO-055 IMU added, along with a home made ESC to drive the four motors. The micro:bit runs the PID and mixer code, along with supplying the PWM signals to drive the four motors. The IMU gives the micro:bit its angle solution from the accelerometers and gyros, with the angle feeding into an angle PID that is then used with the gyro rate to feed an angular rate PID which keeps it balanced.

It balances on the rig very effectively, although that is one stiff quad. I probably need to relax the P gain in the PID a bit before going for the first test flight. It's worth watching the slow motion at the end to see how much the quad's vibration transmits back into the frame.