Develop Control System (LQR for Attitude tracking control)

[Nuttakorn]

Hi everyone,
I am Jay, I would like to develop your code from PID to LQR, but I do not know Control layer in Multiwii code.
I try to search that information but I can not find it.
Could you tell me about your structure of control or control layel and meaning of variable ?
Are you to recommend me with my idea ?
Thank you very much

[timecop]

If you're having trouble "understanding multiwii 'control layer'",
I'm not sure I'd be trusting your LQR controller, assuming it would ever get written in the first place.
Also, decade old 8bit/16MHz MCUs are probably not the best platform for experimenting with new control algorithms.