A quadcopter build on DJI F-450 frame with DJI engines & DJI ESCs. Uses Terasic DE0-Nano evaluation board with Altera Cyclone IV FPGA with MIPS cpu inside it. C++ code drives the MIPS cpu controlling engines and quadcopter attitude. It uses FreeIMU 0.4.3 (MPU-6050 accelerometers and gyroscopes) to get current device attitude.
