I'm trying to make a quadcopter with Arduino. I already have the angles (roll pitch and yaw) thanks to an IMU. They are in degrees and filtered with a complementary filter. I want to apply a PID algorithm for each axis but I dont know if the inputs should be angles (degrees) or angular velocities in degrees per second so as to calculate the errors with respect referencies. Which will be the difference? Which will be the best way?
Finally, another question about a PID code: I have seen that many people don't include time in their codes. For example, their derivative term is kd×(last error-actual error) instead kd×(last error-actual error)/looptime and something similar with the integrative term. Which is the difference?
Thank you in advanced.