The only external devices needed are a MPU6050 for attitude measurment and a Wifi dongle. The quadcopter is remotely controlled via wifi and an Android App
mpu6050_dmp.cpp contains routine to set-up, initialize and obtain Yaw, Pitch, Raw angles from an MPU6050. setup() MPU_init() MPU_setup() (combination of both former ones) MPU_getYPR(ypr) (returns Y P R angles ina table)
android source code
PILOT : 所有的code 都整合在這邊.....
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Reference : https://github.com/vjaunet/QUADCOPTER?files=1