Mohamed Rabah's video: Quadcopter STM32F4 Discovery board 4 : final tuning for stabilization

Finally i was able to stabilize my quadcopter after a lot of challenges. Put in your mind that the controller your are going to use will depend on the what is the purpose of your quadcopter. In my case since my purpose is an aerial photography quadcopter so the best controller was just the classic PID but i have to use the deravitive filter besides a back calculation as an antiwindup which makes it's more harder and challenger for tuning. I faced a lot of problems, the most weirdest one that took a long time to figure it out was that one of the propelers was not balanced which caused the quadcopter to always tilt. My system Spec : Frame : Tarot 650 sport ESC : Hobbywing X-Rotor 40A and a separeted UBEC Controller : STM32F4 discovery board ( ARM Cortex M4 ) BLDC : SunnySky X4108S kv380 Propelers : Carbon Fiber 1555