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One person recapitulates late '50s booster guidance development with

https://www.youtube.com/watch?v=u-86tsFJ7lE

Cleanflight Flight Controller - 32bit MultiWii http://cleanflight.com

Gyroscope.com - gyroscopes, educational toys and gadgets http://gyroscope.com/#


"vernier engine throttle settings were controlled using a proportional-plus-derivative
feedback loop closed around the measured vs. desired velocity magnitude as
a function of altitude, represented by the [~parabolic] descent contour"
Surveyor Spacecraft Automatic Landing System
Sam W. Thurman
AAS 04-062
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.504.9417&rep=rep1&type=pdf

Bradwii tutorial introduction - https://www.youtube.com/watch?v=cPupiO5l_Jw

https://github.com/goebish/bradwii-X4

"Hubsan X4 H107 serie uses Invensense MPU-3050 gyro, mCube MC3210 accelerometer and A7105 RF."