The aim of the airPy project is to create a drone flight controller using the pyboard (https://micropython.org). The project wiki is available at www.air-py.com The Ground Station code (airPy-GS project) can be found at https://github.com/Sokrates80/airPy-GS.
This project makes use of the folloing libs:
https://github.com/micropython-IMU/micropython-fusion
https://github.com/micropython-IMU/micropython-mpu9150
The pid implementation is based on this project: https://hackaday.io/project/7610-micropython-flight-controller