I'm happy with where we are at so far, after maybe 30 hours of work in the last week. I'm working on getting the MPU-6050 working with the Propeller and seeing if I can get acceleration and gyro values out of the chip. The main issue with the 6050 is that it's not very well documented: the motion processing unit (the main feature of the chip) has almost no documentation, and all information has to be gleaned from reverse engineering the chip.
The critical question facing me right now is how to get the quaternion data from the 6050. It's going to be a pain to try and recover that, but once I get it out of the chip then I'll be golden and on to the next challenge: managing the control of the quadcopter. In the next week I hope to get the 6050 up and running, and get all the other code going for things like wireless, PWM, SD card, etc.
This is just the software, the hardware is a whole other ball game.
