In this update I demonstrate how I modified the original flight controller and testing firmware from Joop Brooking, and shrank their sizes. Also, I explain how to adapt the code for flying the board as a mini-drone (involving the battery voltage and pwm outputs for Mosfet).
The code and schematics in this video are available on the GitHub repository
In next weeks update I will show you how to assemble the mini-drone, and how to use testing firmware to test various parts. Finally, I will show you how to download the flight controller firmware to make it fly.