code location

[Francis Velasco]

just curious where can i find the bluetooth code in the firmware and the complementary filter?  id like to understand how the filter works with the gyro/accel/magnetometer.

[peabody124]

there is no bluetooth code in the firmware - none of our firmware controls bluetooth. you can find some bluetooth code in the android code

look here https://github.com/TauLabs/TauLabs/blob/next/flight/Modules/Attitude/attitude.c for the complementary filter

[Francis Velasco]

Thanks for this, how does the bluetooth then control the quadcopter via the controller? 

[José Eduardo S. C. Xavier]

BT is seen as a telemetry channel from the firmware side.

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[Guilhermo Santiago]

The firmware doesn't even know what BT is, it handles it like any other serial telemetry link.