im trying to build my own code for quadcopter using apm 2.6 and arduino.
Everything went well, the sensors worked, the engines and radio. But the control loop (PID) was slow, and the reason is the slow processing of information from the receiver, and the reason it uses analog connections of the ATMEGA2560 to connect cables to the receiver, and the problem with that is that the action that reads the information from the receiver is too slow.
The solution to this is to use onboard controller ATMEGA32U2 that connected to INTERRUPT PINS. From what I gathered the controller would process the information from the receiver in the background and send it to the ATMEGA2560.
How do I get the information what ATMEGA32U-2? Where it joins in ATMEGA2560?
Thanks for any help!
i.imgur.com/hZ5XlJS.png
