Added xyControl Page

input/projects/xycontrol.md

@@ -0,0 +1,95 @@
+title: xyControl
+title_de: xyControl
+description: AVR base Quadrocopter Flight Controller
+menu-position: 23
+comments: true
+flattr: true
+github: https://github.com/xythobuz/xyControl
+twitter: xythobuz
+reddit: true
+print: true
+---
+
+![Logo][logo]
+
+[xyControl][gh] is a Quadrocopter Flight Controller based on Atmels Atmega2560 microcontroller.
+It features 512KB SRAM on-board, using the external memory interface of this processor.
+Also included is a switched power supply as well as a USB connection to communicate with and program the target.
+All I/O pins, including 3 additional UARTs, SPI, I2C (TWI) and 16 ADC Channels, are accessible via standard 2.54mm connectors.
+The Board can be powered from an external stable 5V supply, USB or 7V or more, via the on-board switched power supply. All voltage sources can be selected via jumpers.
+
+[![Screenshot][sss]][ss]
+[![Photo 1][xy1s]][xy1]
+[![Photo 2][xy2s]][xy2]
+
+## Flight Control Software Flow
+
+Three tasks are controlling the Quadrocopter Orientation in Space.
+
++ The Orientation Task reads the Gyroscope and Accelerometer and calculates the current Roll and Pitch angles. They are stored in the global struct "orientation".
++ The PID Task is then feeding these angles into two PID controllers. Their output is then used by...
++ The Set Task, which calculates the motor speeds and gives them to...
++ The motor task, which sends the new values via TWI to the motor controllers.
+
+# Supported Hardware
+
++ Gyroscope L3GD20, code based on the [Adafruit Example][adafruit].
++ Accelerometer and Magnetometer LSM303DLHC, code based on the [Pololu Example][pololucode].
++ I got both of these Sensors on the [MinIMU-9 v2][pololu].
++ Brushless Motor Driver [BL-Ctrl V1.2][ctrl] with eg. the [Robbe Roxxy Outrunner 2824-34][mot] Brushless Motor.
++ BTM-222 Bluetooth UART Bridge ([PCB][bt])
+
+## External Memory (xmem.h)
+
+The external memory consists of a 512Kx8 SRAM, bank-switched onto the 16bit avr address space.
+This gives us 8 memory banks, consisting of 56KB. All memory from 0x0000 to 0x21FF is the AVRs internal memory. The memory banks are switched into 0x2200 to 0xFFFF.
+This gives us 8 banks with 56KB each, resulting in 448KB external RAM.
+
+The data and bss memory sections, as well as the Stack are located in the internal RAM. The external RAM is used only for dynamically allocated memory.
+
+## Orientation Calculation (orientation.h)
+
+Calculates the current angles of the platform, using Gyroscope and Accelerometer Data with a Kalman Filter. It is using this slightly modified [Kalman Filter Implementation][kalman] by Linus Helgesson.
+
+# PC and Android Tools
+
+You can find some PC Software in the 'tools' directory. Each one should be accompanied by it's own Readme file.
+
+## UART-Flight Status Packet Format
+
+    printf("t%.2f %.2f %.2f\n", kp, ki, kd);
+    printf("u%.2f %.2f\n", pid_output[1], pid_output[0]); // Pitch, Roll
+    printf("v%i %i %i %i\n", motorSpeed[0], ..., motorSpeed[3]);
+    printf("w%.2f\n", orientation.pitch);
+    printf("x%.2f\n", orientation.roll);
+    printf("y%.2f\n", orientation.yaw);
+    printf("z%.2f\n", getVoltage());
+
+# Software used
+
+ + [Peter Fleurys TWI Library][fleury]
+
+# License
+
+Peter Fleurys TWI Library (twi.c & twi.h) is released under the [GNU GPL license][gpl].
+
+Everything else is released under a BSD-Style license. See the [accompanying COPYING file][bsd].
+
+ [sss]: img/xyCopterOsci_small.png
+ [ss]: img/xyCopterOsci.png
+ [xy1s]: img/xycontrol1_small.jpg
+ [xy1]: img/xycontrol1.jpg
+ [xy2s]: img/xycontrol2_small.jpg
+ [xy2]: img/xycontrol2.jpg
+ [gh]: https://www.github.com/xythobuz/xyControl/
+ [logo]: http://www.xythobuz.de/xycontrol/logo.png
+ [adafruit]: https://github.com/adafruit/Adafruit_L3GD20
+ [pololucode]: https://github.com/pololu/LSM303
+ [pololu]: http://www.pololu.com/catalog/product/1268
+ [ctrl]: http://www.mikrokopter.de/ucwiki/en/BL-Ctrl_V1.2
+ [mot]: http://www.conrad.de/ce/de/product/231867
+ [bt]: http://xythobuz.org/index.php?p=bt
+ [kalman]: http://www.linushelgesson.se/2012/04/pitch-and-roll-estimating-kalman-filter-for-stabilizing-quadrocopters/
+ [fleury]: http://homepage.hispeed.ch/peterfleury/avr-software.html
+ [gpl]: http://www.gnu.org/licenses/gpl.html
+ [bsd]: https://github.com/xythobuz/xyControl/blob/master/COPYING

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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/c250.de.html

@@ -101,6 +101,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/c250.html

@@ -92,6 +92,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/contact.de.html

@@ -61,6 +61,7 @@
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 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/contact.html

@@ -61,6 +61,7 @@
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/index.de.html

@@ -79,6 +79,7 @@ GCS/E/MU d-(--)>--- s:++ a-- C++++>$ UBLX+++>++++$ P+ L+ !E--- W+++ N+ !o K--? !
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/index.html

@@ -79,6 +79,7 @@ GCS/E/MU d-(--)>--- s:++ a-- C++++>$ UBLX+++>++++$ P+ L+ !E--- W+++ N+ !o K--? !
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/k6x4008.de.html

@@ -92,6 +92,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/k6x4008.html

@@ -92,6 +92,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ledcube.de.html

@@ -123,6 +123,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ledcube.html

@@ -123,6 +123,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ledmatrix.de.html

@@ -85,6 +85,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ledmatrix.html

@@ -85,6 +85,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/nas.de.html

@@ -237,6 +237,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/nas.html

@@ -104,6 +104,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/rremote.de.html

@@ -86,6 +86,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/rremote.html

@@ -86,6 +86,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/rss.xml

@@ -6,8 +6,8 @@
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 <language>en-us</language>
-<pubDate>Sun, 05 May 2013 21:18:05 -0000</pubDate>
-<lastBuildDate>Sun, 05 May 2013 21:18:05 -0000</lastBuildDate>
+<pubDate>Sun, 05 May 2013 21:54:55 -0000</pubDate>
+<lastBuildDate>Sun, 05 May 2013 21:54:55 -0000</lastBuildDate>
 <docs>http://blogs.law.harvard.edu/tech/rss</docs>
 <generator>Poole</generator>
 

output/serialdebug.de.html

@@ -89,6 +89,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/serialdebug.html

@@ -89,6 +89,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/serialhelper.de.html

@@ -112,6 +112,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/serialhelper.html

@@ -112,6 +112,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/sitemap.xml

@@ -352,6 +352,13 @@
 </url>
 
 <url>
+    <loc>http://www.xythobuz.de/xycontrol.html</loc>
+    <lastmod>2013-05-05</lastmod>
+    <changefreq>monthly</changefreq>
+    <priority>0.5</priority>
+</url>
+
+<url>
     <loc>http://www.xythobuz.de/yasab.de.html</loc>
     <lastmod>2013-05-05</lastmod>
     <changefreq>monthly</changefreq>

output/ssop28.de.html

@@ -84,6 +84,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ssop28.html

@@ -84,6 +84,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ultimatenotifier.de.html

@@ -177,6 +177,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/ultimatenotifier.html

@@ -179,6 +179,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
+<li><a href="/xycontrol.html">xyControl</a></li>
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
 <li><a href="/serialdebug.html">Serial Debug</a></li>
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

output/xycontrol.html

@@ -0,0 +1,187 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8" />
+    <title>xyControl - xythobuz.de</title>
+    <meta name="description" content="AVR base Quadrocopter Flight Controller" />
+    <meta name="keywords" content="xythobuz" />
+    <link rel="author" href="/xythobuz@xythobuz.de">
+    <link rel="shortcut icon" href="/img/favicon.ico">
+    <script type="text/javascript" src="/js/sh_main.js"></script>
+    <link type="text/css" rel="stylesheet" href="/css/sh_bright.min.css" />
+    <link rel="stylesheet" href="/css/style.css" type="text/css" media="screen" />
+    <link rel="alternate" type="application/rss+xml" title="Blog" href="/rss.xml">
+    <link rel="stylesheet" href="/css/gh-fork-ribbon.css" />
+    <link href='http://fonts.googleapis.com/css?family=Droid+Sans:400,700' rel='stylesheet' type='text/css'>
+    <script type='text/javascript'>
+/* <![CDATA[ */
+(function() {
+var s = document.createElement('script');
+var t = document.getElementsByTagName('script')[0];
+s.type = 'text/javascript';
+s.async = true;
+s.src = '//api.flattr.com/js/0.6/load.js?mode=auto&uid=xythobuz&category=text';
+t.parentNode.insertBefore(s, t);
+})();
+/* ]]> */
+</script>
+</head>
+<body onload="sh_highlightDocument('/js/sh/', '.min.js');">
+    <div class="github-fork-ribbon-wrapper right">
+<div class="github-fork-ribbon"><a href="
+https://github.com/xythobuz/xyControl
+">Fork me on GitHub</a></div></div>
+    <div id="header">
+        <h1>xythobuz.de</h1>
+        <h2>xyControl</h2>
+    </div>
+    
+    <div class="colmask leftmenu"><div class="colleft">
+        <div class="content">
+
+            <p><img alt="Logo" src="http://www.xythobuz.de/xycontrol/logo.png" /></p>
+<p><a href="https://www.github.com/xythobuz/xyControl/">xyControl</a> is a Quadrocopter Flight Controller based on Atmels Atmega2560 microcontroller.
+It features 512KB SRAM on-board, using the external memory interface of this processor.
+Also included is a switched power supply as well as a USB connection to communicate with and program the target.
+All I/O pins, including 3 additional UARTs, SPI, I2C (TWI) and 16 ADC Channels, are accessible via standard 2.54mm connectors.
+The Board can be powered from an external stable 5V supply, USB or 7V or more, via the on-board switched power supply. All voltage sources can be selected via jumpers.</p>
+<p><a href="/img/xyCopterOsci.png"><img alt="Screenshot" src="/img/xyCopterOsci_small.png" /></a>
+<a href="/img/xycontrol1.jpg"><img alt="Photo 1" src="/img/xycontrol1_small.jpg" /></a>
+<a href="/img/xycontrol2.jpg"><img alt="Photo 2" src="/img/xycontrol2_small.jpg" /></a></p>
+<h2>Flight Control Software Flow</h2>
+<p>Three tasks are controlling the Quadrocopter Orientation in Space.</p>
+<ul>
+<li>The Orientation Task reads the Gyroscope and Accelerometer and calculates the current Roll and Pitch angles. They are stored in the global struct "orientation".</li>
+<li>The PID Task is then feeding these angles into two PID controllers. Their output is then used by...</li>
+<li>The Set Task, which calculates the motor speeds and gives them to...</li>
+<li>The motor task, which sends the new values via TWI to the motor controllers.</li>
+</ul>
+<h1>Supported Hardware</h1>
+<ul>
+<li>Gyroscope L3GD20, code based on the <a href="https://github.com/adafruit/Adafruit_L3GD20">Adafruit Example</a>.</li>
+<li>Accelerometer and Magnetometer LSM303DLHC, code based on the <a href="https://github.com/pololu/LSM303">Pololu Example</a>.</li>
+<li>I got both of these Sensors on the <a href="http://www.pololu.com/catalog/product/1268">MinIMU-9 v2</a>.</li>
+<li>Brushless Motor Driver <a href="http://www.mikrokopter.de/ucwiki/en/BL-Ctrl_V1.2">BL-Ctrl V1.2</a> with eg. the <a href="http://www.conrad.de/ce/de/product/231867">Robbe Roxxy Outrunner 2824-34</a> Brushless Motor.</li>
+<li>BTM-222 Bluetooth UART Bridge (<a href="http://xythobuz.org/index.php?p=bt">PCB</a>)</li>
+</ul>
+<h2>External Memory (xmem.h)</h2>
+<p>The external memory consists of a 512Kx8 SRAM, bank-switched onto the 16bit avr address space.
+This gives us 8 memory banks, consisting of 56KB. All memory from 0x0000 to 0x21FF is the AVRs internal memory. The memory banks are switched into 0x2200 to 0xFFFF.
+This gives us 8 banks with 56KB each, resulting in 448KB external RAM.</p>
+<p>The data and bss memory sections, as well as the Stack are located in the internal RAM. The external RAM is used only for dynamically allocated memory.</p>
+<h2>Orientation Calculation (orientation.h)</h2>
+<p>Calculates the current angles of the platform, using Gyroscope and Accelerometer Data with a Kalman Filter. It is using this slightly modified <a href="http://www.linushelgesson.se/2012/04/pitch-and-roll-estimating-kalman-filter-for-stabilizing-quadrocopters/">Kalman Filter Implementation</a> by Linus Helgesson.</p>
+<h1>PC and Android Tools</h1>
+<p>You can find some PC Software in the 'tools' directory. Each one should be accompanied by it's own Readme file.</p>
+<h2>UART-Flight Status Packet Format</h2>
+<pre><code>printf("t%.2f %.2f %.2f\n", kp, ki, kd);
+printf("u%.2f %.2f\n", pid_output[1], pid_output[0]); // Pitch, Roll
+printf("v%i %i %i %i\n", motorSpeed[0], ..., motorSpeed[3]);
+printf("w%.2f\n", orientation.pitch);
+printf("x%.2f\n", orientation.roll);
+printf("y%.2f\n", orientation.yaw);
+printf("z%.2f\n", getVoltage());
+</code></pre>
+<h1>Software used</h1>
+<ul>
+<li><a href="http://homepage.hispeed.ch/peterfleury/avr-software.html">Peter Fleurys TWI Library</a></li>
+</ul>
+<h1>License</h1>
+<p>Peter Fleurys TWI Library (twi.c &amp; twi.h) is released under the <a href="http://www.gnu.org/licenses/gpl.html">GNU GPL license</a>.</p>
+<p>Everything else is released under a BSD-Style license. See the <a href="https://github.com/xythobuz/xyControl/blob/master/COPYING">accompanying COPYING file</a>.</p>
+
+            <span id="flattr">
+<a class="FlattrButton" href="http://www.xythobuz.de/xycontrol.html" title="xyControl">AVR base Quadrocopter Flight Controller</a>
+</span>
+<span id="twitter">
+<a href="https://twitter.com/share" class="twitter-share-button" data-via="xythobuz" data-dnt="true" data-related="xythobuz" data-count="vertical">Tweet</a><script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0];if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src="//platform.twitter.com/widgets.js";fjs.parentNode.insertBefore(js,fjs);}}(document,"script","twitter-wjs");</script>
+</span>
+<span id="reddit">
+<script type="text/javascript">reddit_url = "http://www.xythobuz.de/xycontrol.html";</script>
+<script type="text/javascript" src="http://www.reddit.com/static/button/button2.js"></script>
+</span>
+<span id="github">
+<a href="https://github.com/xythobuz/xyControl" class="gitforked-button gitforked-forks gitforked-watchers">Fork</a>
+</span>
+
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+            <h3>Thomas Buck</h3>
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+                I'm a 19 year old Information Engineering student from Germany, mostly building cool stuff with AVR microcontrollers. All of my projects are released as <a href="http://www.gnu.org/philosophy/free-sw.html">Free Software</a> on my <a href="https://github.com/xythobuz">GitHub Profile</a>.
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+<li><a href="/xycontrol.html">xyControl</a></li>
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