1. Propeller DCM

    This is a Parallax Propeller chip running a partial implementation of Premerlani and Bizard's work on Direction Cosine Matrix computation for orientation sensing. (Check out their paper on DIYDrones) I'm hoping to use this in a quad-rotor without a GPS or magnetometer - I wanted to see how good the algorithm was at stabilizing pitch and roll. So far it looks very promising.

    All the work is done on the Propeller itself. It reads the gyro and accelerometer values on one core, and ...