Welcome to the Parallax Discussion Forums, sign-up to participate.
iseries wrote: »
If you look at the code you will see that there is a separate cog just to do the math. There is also a combination of Spin, C and assembly in it just to make things interesting. It takes some looking to see how the code all comes together.
As far as I know there is no fixed point calculation to do Quaternions. Also you need to do Euler angles to determine orientation.
It is possible to use a coprocessor chip to do this math and simplify some of the calculations such as BNO055 or EM7180.
Still you will need assembly code or C code to do the SBUS or PPM input from the radio receiver not to mention the PWM for each motor output.