Tricopter controlled flight!
Or, the best one-line bug fix ever.
For two months, I had been thinking I was running my flight controller at 166 Hz while actually running it at a measly 31 Hz. I don’t want to go into detail about how that happened, but I have fixed the problem, and now it works. I am mad and happy. As one friend suggested after my realization, I should perform a sanity check on my code every once in a while so this does not happen again.
Check out the flight videos after the break.
Flight in the Covell Hall hallway.
UPDATE 5/15/12: Higher quality video with sound:
It is useful to note that I have my maximum angular displacement set to 30 degrees, so the control is not as fine as it could be (thus the jerkiness). The cell phone camera used to take the video was in underwater mode (blue filter), which is why the video is tinted orange.
My endorphin levels have never been so high in months.