@rif42 Well using of the US sensors is not perfect solution but it gives a possibility to navigate indoor. I didn't test it with which angles it will work but it is not that change about 2 degrees is a problem - I think that it will work up to 20 degrees without any problems. To fly with bigger angles another sensing method has to be implemented. Anyway US sensors are good because of the relatively good accuracy and good performance with different surfaces and without influence of light conds...
As I understand it, there ultrasonic sensors sit on the riggers of the quad-copter. The ultrasonic sensors should work well when the riggers are orthogonal to the walls as you keep them in the video. The ultrasonic wave hit the wall and bounce directly back to the sensor. How well would it work if you turn the quad-copter 45 degrees?
@condor4679123 US sensors have I2C bus so I connected them to I2C bus of the Mikrokopter. Software needs changes of the I2C routines. To stabilize the device using those sensors I have implemented control algorithms on the board of Mikrokopter - I tried to do it also through a PC but delays in communication made it impossible. Of course to have possibility to read the sensors readings on the PC you had to add sending data routine and implement own software which is able to read the values.
