In our past articles we've explored some of the basics of the mechanics of Quadcopters. In this article we'll be doing something a bit different and discussing the algorithms behind how the Quadcopter keeps itself stable. To do this we'll actually be inspecting some of the official Bitcraze Firmware and it's stabilizer.c implementation. It's okay if you don't know C or understand what's going on in this file, that's part of the purpose of this article!
