I wrote an Arduino program for my quadcopter that sets to power of the 4 ESC's using software. Now I need to incorporate the gyro and add a "Complementary Filter" to stabilize it.
I am currently using a MPU 6050 for the job.
I primarily want to know what is the best approach to take for compensating the angular rate from the receiver using gyro.
Should i give the use the angle from my receiver and program my quad works to achieve that angle or should I try to control angular rate?
e.g angular rate:- receiver roll stick moves produces an angular rate that my PID compares with angular rate of gyro and alters values for the esc's.
e.g angle:- receiver roll stick moves produces an angle that my PID compares with the ANGLE of gyro+Accelerometer and then alters my ESC values