AUTOMATIC THROTTLE CENTERING

Originally, I had to bring the throttle stick up above the mid point to keep the multicopter balanced, since the multicopter is a bit overweight with the 3650mAh battery and GoPro camera. However, by using PID controls, I have been able to make the program automatically adjust the throttle such that leaving the throttle stick in the middle will keep it level. It is a small but satisfying improvement to the multicopter. Further project goals include:

• Integrate altitude detection

• Non-adjustable stabilizer gimbal

• Set up transmitter channel 5 and 6

• Adjustable stabilizer gimbal

• GPS position hold

• GPS based movement control

• Integrate GPS setting to only if available and revert to normal program if not

• Return to home function

• ​Low battery return to home