I've been working on a quad copter for awhile now, recently I've finished the interface for PID tuning and its leading me to question several design decisions.
The quad uses a RaspberryPi as its pilot, the entire loop takes less than 20ms. IMU data is gathered, the throttle speeds are calculated, and then finally sent to an Arduino(micro) over an SPI interface. Where they are
analogWrite(...), to each ESC.
Can a quadcopter fly with a loop that slow? 20ms = 50Hz?