Github: https://github.com/conneroisu/cpre488-mp4

cpre488-mp4 ¶

A cascaded PID controller stack for the Crazyflie drone platform, implementing an outer attitude loop feeding an inner attitude-rate loop for stable flight. I added per-drone configuration support so the gains and limits can be tuned per-vehicle without recompiling, and an axis-dominance filter to prevent cross-axis interference during aggressive maneuvers. This was machine problem 4 in CprE 488 at Iowa State, where the goal was to move from open-loop motor commands to closed-loop stabilized flight.