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Soldering 101 Safety Rules Safety Glasses Fumes vapor deflector Soldering Procedure Solder the compact part first (eg. Chip that has many legs and hard to reach). Apply flux(adhesive promoter) to the pad and align the component on the board. Once align use the soldering pen and apply heat to the joints until it seems good connection. Clean the flux with alcohol wipes. Verify that there is no connection between Ground to Voltage source after soldering chip and USB. In case if you messed up use Solder Wick, vacuum pen or heat gun to take the solder or component out of the board. PID - Partial Integral Derivative Controllers A PID controller is a control loop feedback system. It calculates an "error" value as the difference between a measured variable and the desired outcome. It attempts to minimize error by adjusting the input into the system. Filters For Quadcoptor balance during flying, it is required to implement digital control methods. MPU6050 provides accel and gyro, total 6 axis data. Accel data shows orientation which responds slowly, kind of like a low frequency signal. Gyro shows a sudden movement data which shows sudden movement values. Complementary Filter It is a filter that rejects low frequency in one channel, high frequency in the other channel, and combines them together. Kalman Filter the Kalman filter estimates a process by using a form of feedback control: the filter estimates the process state at some time and then obtains feedback in the form of (noisy) measurements. As such, the equations for the Kalman filter fall into two groups: time update equations and measurement update equations. The time update equations are responsible for projecting forward (in time) the current state and error covariance estimates to obtain the a priori estimates for the next time step. The measurement update equations are responsible for the feedback—i.e. for incorporating a new measurement into the a priori estimate to obtain an improved a posteriori estimate. Time Update (“Predict”) --------------------->>>> Measurement Update (“Correct”) XBEE XBEEs are linked TX/RX XBEE commands