Here is a pretty long video walking you through the structure of the code, where I point out things that are important to know if you would like to modify the code for your application:
A project log for dRehmFlight VTOL
Teensy/Arduino Flight Controller and Stabilization
Here is a pretty long video walking you through the structure of the code, where I point out things that are important to know if you would like to modify the code for your application:
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