I even managed to get it talking to an RC simulator, so I could debug it without crashing my real plane.
I vaguely remember it using about half the available CPU cycles doing all that. I believe the output was synchronized to the input, so that the throttle and servos would go limp if the radio went out of reception, rather than have the plane just keep flying level into the sunset. It was also reading 6 channels from the radio receiver, and producing 6 RC PWM outputs. Sqrt was used when normalizing vectors and quaternions, probably two or three times per cycle. The AVR was reading a 6 axis IMU chip and estimating attitude using a floating point quaternion based complementary filter, at 100hz. It was fun, you could do really foolish stunts and just flip a switch to level out immediately if you got too disoriented. It would keep pitch and roll at 0 degrees with an offset based on the joystick input, toggle-able by a switch. 9,589 17.67MB No Screenshot Official Patches Quake III: Arena (Windows) v1.27g Beta Patch Quake III Arena 1.27g Point Release 570,966 17. New in 1.25y are a few new console commands and a ton of little bugfixes. Yep, for that project I implemented an RC airplane attitude controller. Official Patches Quake III: Arena (Windows) v1.25y Beta Patch 1.25y patch is in beta.
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