此代码是基于STM32飞控板的四轴飞行器代码，融合了新的姿态解析算法-This code is based on the STM32 four-axis flight control board aircraft code, integration of a new attitude resolution algorithm

基于STM32F4的四轴航拍平台。以STM32F407为控制核心，四轴飞行器为载体，辅以云台的航拍系统。硬件上由飞控电路，电源管理，通信模块，动力系统，机架，云台伺服系统组成。算法上采用简洁稳定的四元数加互补滤波作为姿态解算算法，PID作为控制器，实现飞行，云台增稳等功能(Four axis aerial platform based on STM32F4. Taking STM32F407 as the control core, t

飞控系统中电机驱动，飞行姿态的控制算法。非常好。。。(Motors drive and attitude control algorithm in flight control system. Very nice)

stm32飞控源代码内置pid算法陀螺仪姿态解算模糊pid等(STM32 Flight Control Source Code Built-in Pid Algorithms Gyroscope Attitude Resolution Fuzzy Pid and so on)