This final project for ME439/L (Controls) uses an MPU-6050 IMU (inertial measurement unit) with a complimentary filter used to fuse the accelerometer and gyroscope measurements into one accurate angle estimate. The actuator is a motor and propeller from a quadrotor. PID control gains were tuned and the resulting closed-loop feedback system was stable and robust to minor disturbances.

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The video to the right demonstrates the project in action.