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The next phase is finding the optimal values for all P, I and D controllers. There are some rules about how to proceed the best way. For further informations there will be some information in the future.

Result of this phase are values for our controller with which we can reach a quite steady flight. For steering against any drifting the keyboard on the computer is used. 

[Video coming]

What comes next?

Next tasks are:

• Evaluate if it is possible to hold the position by processing the acceleration values of the accelerometer. 
  Currently we are only able to fly remote controlled.
• Wire all the components for the proximity sensors and the dedicated Arduino Nano.
• Finish the software for the Arduino Nano and the Arduino Mega to get all the sensor values.
• Try to reach a wall collision avoidance