AvrMiniCopter

Arduino based copter driver.

This is just an arduino driver that handles stabilization and executes SPI received commands.

To make it work you will need:

• MPU6050/MPU9150 connected over I2C
• SPI master connected device (like Raspberry Pi) that will send commands to the driver
• 4 ESC connected to PWM ports

This has been tested on Atmega328p (16MHz).

Communication protocol

The controller support SPI based, bi-directional messaging protocol. It is used to monitor the status, request quadcopter position and send any configuration data.

Each message consists of 4 bytes:

 --------------------
| TYPE | VALUE | CRC |
 --------------------

Type  - uint8_t
Value - int16_t
CRC   - uint8_t