The following video shows the test flight. It could be improved by further tuning PID, but I personally is happy with the performance.
Conclusion:
Three years ago, I have thought about doing this as my final year project. And now I am just happy that I have finally finished this project.
Hope that this blog series could be helpful to whoever reading it and hope that the next project of mine would not drag so long ever again.
Last but not least, some shot of my final quadcopter!
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