Flight Control in C-Code
To implement the flight Control System in C-Code the Arduino IDE 1.6.4 was used. This software is free to download here.
Flight Control in SCCharts
To implement the flight Control System in SCCharts the KIELER Nightly Build 201508130841 was used. A newer version of this software is free to download here.
Read the MPU
To read the MPU the i2cdev library was used. Usage is explained here.