The propellers of a multicopter produce thrust. Unfortunately the thrust is the smaller, the more the copter is tilted. I was currently wondering whether there is an established method to calculate how much the overall thrust has to be modified to hold the current altitude, based on the current attitude.
This is the way a calculate the motor output so far. rol/pit/yaw-output already ran through the PIDs.
// Calculate the speed of the motors int_fast16_t iFL = rcthr + rol_output + pit_output - yaw_output; int_fast16_t iBL = rcthr + rol_output - pit_output + yaw_output; int_fast16_t iFR = rcthr - rol_output + pit_output + yaw_output; int_fast16_t iBR = rcthr - rol_output - pit_output - yaw_output;