First Drone Controller!

After a bit of trial and error, we have out first PID drone controller!!!
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It works in ACRO mode, this means that joystick inputs are seen as a target angular velocity, which the controller turns into a torque and then into motor outputs.
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The mixer scales down torque and throttle dynamically to not ever lose throttle or attitude controll.
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On top of this, it is now easy to add auto leveling, with another PID stacked above, that turns a target rotation into a target angular velocity