A Novel Framework of Modelling, Control, and Simulation for Autonomous Quadrotor UAVs Utilizing Arduino Mega

Algorithm 5

ISR: interrupt subroutine.

1. Once PCI is called by pin voltage change.

2. If (last value == 0) then

3. If (new reading == 1) then

4. Last value =1;

5. Start timer;

6. Else

7. If (new reading == 0) then

8. Last value =0;

9. Receiver = time – Timer;

10. Send back the time of the pulse