How a Drone Argues With Gravity
A beginner-friendly walkthrough of PID control: target, error, P, I, D, cascaded loops, feedforward, and motor mixing in a drone simulator.
jeet
The Equation That Landed on the Moon
From the Apollo Guidance Computer to my drone simulator: how the Kalman filter turns two lying sensors into one orientation you can actually fly on.
Why Can't a Drone Trust Its Own Sensors?
What an IMU actually measures, why a still drone feels gravity pushing up, and why noise, bias and drift mean a drone can never fully trust its own sensors.
What Does It Take to Fake a Flying Drone?
Newton-Euler dynamics, motor mixing and RK4 integration, the complete physics loop inside my quadrotor simulator, taught from scratch.
Why Rotating in 3D Requires Numbers That Live in 4D
Climbing the number ladder from real numbers to complex numbers to quaternions, and why 3D rotation needs a 4D number system.
What Does "Forward" Even Mean to a Drone?
A beginner intro to world and body frames, why drones need both, and where this shows up in my quadrotor simulator.
Building a simple Shell in C
Step-by-step guide to implement a simple Unix-like shell in C.