Erdabyz posted an update to his Quadcopter in a 5x5cm PCB we covered previously:
For now, Invensense’s MotionApps firmware has been succesfully ported to PIC32, and we have the MPU6050’s DMP outputting a quaternion at 200Hz and the output looks perfectly valid.
Some freescale code for the barometer/altimeter has also been ported but it’s still mostly untested. Only checked that communication does work.
This is some seriously cool stuff! How did the project go?
Nice guide