A Novel Framework of Modelling, Control, and Simulation for Autonomous Quadrotor UAVs Utilizing Arduino Mega

Algorithm 4

PID calling FCT.

1. Calculate error between gyro reading & set point;

2. Calculate integration contribution for RYP w/max value;

3. Calculate: PID = min ≤ PIDi + p error + d (error − exError) ≤ maxforRYP;

4. Update ex-error;

5. Send back values.