autopilot: Do it yourself UAV
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The systems are coupled in this fashion:
The inertial sensors are three Tokin CG-16D angular rate gyros and
one or two ADXL202-EB accelerometers. The analog outputs of each
of these are low pass filtered through opamps and amplified to make
full use of the 5 V range of the Mega163's ADC.
The PPM radio signals are decoded by the board as well. The 2.2 board
is "in the loop" for safety pilot switching and servo control.