Lastest version of BXDrone software for Arduino and Computer (Java).
IMU used in this version is the MPU9150 purchased in SparkFun (https://www.sparkfun.com/products/11486).
Libraries needed:
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For the Arduino program: PID library, version 1.0.1: Can be downloaded here http://playground.arduino.cc/Code/PIDLibrary
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For the Computer (Java) program: RXTX Library: Can be downloaded here for Eclipse: http://jlog.org/rxtx-win.html -- WindowBuilder plugin has been used for the Graphic User Interface on Eclipse