Ever since I got my parts, I have been focused on getting it running. At first, I tried with a PID controller because that seemed like the most straightforward thing to do. Unfortunately, I was looking at it all wrong.

I looked at PID control theory and studied it as much as I could, but for some reason, I could not get it as near as stable as I would like. It just wouldn't want to go to the middle position unless it was 100% perfectly at 0. This makes sense because this is what PID controllers are designed to do. Unfortunately for a rocket, this type of movement would cause for crazy oscillations throughout the flight even with tuning of the controller. What I needed was a direct linear relationship between the Yaw, Pitch, and Roll and the rocket.

Yesterday, I started looking around and seeing what other people have done and saw this in common with the two people I looked at; they used the map function to map the gyro values directly to their control systems.

I thought to myself, "Woah, hold on here... This is too simple, this is suppose to be hard right?". I looked and I thought and I debated with myself on using this. I ran the tests, and it performed brilliantly. I no longer had to use a PID controller which will make the control system considerably faster and would be more responsive. It worked.

It works.

(Code is on Github.)