Im using my own code to create a quadcopter robot. The hardware part is done but I need to balance the copter.
This is the video of its current status: https://www.dropbox.com/s/53tpf1jzaly6m33/Movie%20on%202013-01-10%20at%2006.36.mov
I have tried to play with the speed of each motor to get it balanced. It didnt go. I actually have a gyro and accelerometer onboard. But how shall I adjust the motor speed based on these values? What are the rules that I should beware of?
Is there any better solution other that try and error? Where shall I begin? Any tips?