Author: Alex Spencer
QuadCopter project. From scratch. MPU6050 as the IMU. 20A ESCs (unbranded). 2200kv motors. 3 blade GWS props, HD8040 and HD8040Rs.
With huge thanks to: -Jeff Rowberg for all his work on the MPU6050 sensor. Here is his license, the same applies to my code.
I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
With thanks to: -RCArduino - for their article below for reading multiple channels http://rcarduino.blogspot.co.uk/2012/04/how-to-read-multiple-rc-channels-draft.html