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@Paullakeman - what experience do you have with :

 

Interfacing RPi to piezo gyro's (positional and rate change)

Interfacing RPi to Servo's - generating PWM

Interfacing RPi to Radio Control PWM and switching output's

Real Time Control loops & the hazards of Oscilations and overdamping

 

If the answer is not very much, a better start might be to study what has been done with Arduino and quads and then try and port that to RPi. There are excellent tutorials on interfacing Arduino to all the HW and some good examples of RTCL code.

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