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Flight Performance
How it's built
PID Attitude Control
1kHz control loop with proportional, integral, and derivative terms tuned for stable hover. Loop period measured at 1.0ms with 45µs jitter using GPIO toggling on a Saleae logic analyzer.
- ›Separate PID for roll, pitch, yaw
- ›Anti-windup on integral term
- ›Derivative filtering to reduce noise
IMU Sensor Fusion
MPU-6050 IMU read over I²C at 400Hz. Raw accelerometer and gyroscope data fused to produce stable attitude estimates resistant to vibration noise.
- ›Complementary filter (gyro + accel)
- ›400Hz PWM motor output
- ›4-motor mixing for quadcopter geometry
ESP-NOW Telemetry
Custom low-latency communication protocol over ESP-NOW between controller and drone. Lower overhead than standard TCP/IP for real-time control data.
- ›Sub-10ms round-trip latency
- ›Connectionless — no handshake overhead
- ›Packet loss detection and recovery
Logic Analyzer Capture
GPIO toggling captured on a Saleae logic analyzer. The 1.0ms period and 45µs jitter are measured directly from this trace — not estimated.
logic analyzer screenshot coming soon
drop image at public/litewing/logic-analyzer.png