How to Write your own Flight Controller Software — Part 5

There are a number of libraries that make working with the LSM9DS1 IMU (Inertial Measurement Unit) easy. In Part 5 of our series on writing your own flight controller software we will focus on the IMU and in particular explain the best ways to convert the gyro rate and accelerometer force data to a roll and pitch angle. The yaw angle is then calculated using the pitch and roll and magnetometer data. This discussion, is in the context of building a drone flight controller based on the Arduino Nano 33 BLE.

Our follow up part in this series will explain how to calibrate the LSM9DS1 IMU and store the results plus use sensor fusion to improve the accuracy of the angles and overcome sensor shortfalls.

Read the complete article on Medium.