Quadcopter - Raspberry Pi - Arduino - Esp8266 and more

After my first test outside which led to the breakage of 2 propellers, I decided to do tests inside. For that, I tied the quadcopter on a wooden board. Two feets are fixed and the others two are free. Thus, by tilting the board, I hope that algorithm will compensate the inclination and adjust the motors so that the quadcopter is stable horizontally Here is a quick diagram

Today, I have configured my raspberry to connect at boot to the HotSpot Wifi of my phone if it is available. If not, It will connect to my home wifi To do this, you need to edit the wpa_supplicant.conf file: sudo nano /etc/wpa_supplicant/wpa_supplicant.conf And you must add a second block "network": country=GB ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev update_config=1 network={ ssid="my home network" psk="password" scan_ssid=1 priority=0 id_str="Home" } network={ ssid="my phone network" psk="mot de passe" scan_ssid=1 priority=1 id_str="Phone" } You must add in each block : Scan_ssid = 1 to search the wifi network Priority = 1 to select by default the network that has the highest priority Id_str = "xxx" to give a name to the network (may be optional?) Now when I am outside, I can conn...

It does not look like anything but by changing the speed of the I2C bus, the data reading of the MPU-6050 is done in less than 1 ms instead of 2 ms To change the speed of the I2C bus, you need to edit the file /boot/config.txt and add this line  : dtparam=i2c_arm_baudrate=400000 With this, I manage to run the control algorithm of my Quadcopter in less than 7 ms. I can thus guarantee a frequency of 100 Hz (100 loops per second) As a reminder, at each loop, I read the data of the MPU-6050, I carry out all calculations and adjust accordingly the speed of the 4 engines.