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. 2019 Oct 27;19(21):4662. doi: 10.3390/s19214662

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© 2019 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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(a) Serial and (b) parallel implementation of the attitude data acquisition, processing, and motor control. $Δ T_{M C}$ represents the period the motor control command is sent and executed; $Δ T_{S D}$ represents the period to collect the transmitted attitude data from Arduino; $Δ T_{D A}$ is the period required for the host PC to process the transmitted data.