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This page lists articles I've written on quadrotors, mainly about PIXHAWK hardware and software.
Upload the Bootloader of PIXHAWK
About the Bootloader of PIXHAWK
What is Going on Behind the Calibration Procedure of QGroundControl
Calibration Procedure of the PX4 Firmware: Part I
Calibration Procedure of the PX4 Firmware: Part II
About the PWM output of PIXHAWK
Allan Variance of the Measurements of a MEMS Gyroscope
The Architecture of the Flight Controller of PIXHAWK