I have a college project that I’m working on and I need some help. For right now I’m looking right some code (preferable C++) that will give my quad-copter(raspberry3/Navio2) the ability to do basic maneuvers (lift-off, hover, pitch, roll, yaw). I want it to be able to do all this by receiving commands via standard-input(keyboard) over a wifi connection. My main concern is stability and how to correctly use the on-board sensors. Is there a C++ library that performs stable hovering and stable lift-off? I feel there should be some sort of planar-PID algorithm using the LSM and MPU sensors.
Eventually this system will have to autonomous and I don’t think the APM, Mission planner, or any other GCS will be of much use to me.
Any help would be great,