This is a second year project at ISEP (Engineering School in Paris) Grade 100% The Big challenge here was to implement the Kalman Filter (https://en.wikipedia.org/wiki/Kalman_filter) and to make it run on a 8bit Arduino UNO The mecanical structure was another challenge because it had to be perfectly balanced. g\vec needed to be aligned to avoid any momentum or stress on the motors. All the cables and wires are shielded to avoir EMI( Electro Magnetic Interferences ) which in the case of this project were difficult to overcome.
File: !Dossier Drone PDF
The code is very messy in here, big apologies, 100% garanteed I would not put this in production like this, the code is not factorized nor cleaned. The focus during this project where on electronics and especially on key concepts : PID feedback loops, Euler Angles equations, etc...