This post introduces you the next test session.
In this phase I’m developing the software to manage the 4 motors and the IMU.
I made the following modification on the frame:
I added an half sphere attached in the bottom, in order to create an unstable condition on the drone.I double check that the blades can not touch the field with any orientation.
The target is to see the quadcopter to stay horizontal adjusting the orientation (roll and pitch) by itsself.