Controlled Hover

After messing with different test beds, different PID values, and about a week of debugging we have a controlled hover achieved by the quadcopter. Seeing as how we can confirm that the quad is capable of lifting itself off the ground and that now we can confirm the quad is capable of balancing itself it is fairly safe to say the quad would be able to achieve stable flight. Sadly we can not test this theory though due to safety issues.For some unknown reason the sensor board will sometimes drop out, normally the quadcopter can stabalize from this and bring the device back however this is not always true. If the sensor drops out during a communication cycle the Stellaris will wait for a response that never comes, even during a reset of the Stellaris this issue persists the only solution is to reset the entire power supply of the board. This could be repaired if we had more time but sadly we have run out of time and can not. The basic idea of the repair would be to use the Stellaris as the power supply for the sensor rather than the main board allowing for a hardware trigger to fire a reset. However, I will be attempting to design a new mount that will allow self propelled flight while still having a way to bring the quad down to the ground if something goes wrong. In the mean time I will shortly be posting a video of the quad balancing itself.