以下是PID控制代码，我直接放在主函数里了 只用了PD控制，没加积分项。 MPU6050采样率设在200Hz，电调PWM频率也是200Hz-The following is a PID control code, I placed directly inside the main function Only a PD control, did not add the integral term. MPU6050 sampling rate set at 200Hz, the