包含位置式PID算法、积分分离式PID，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角，考虑雨衰 阴影 和多径影响。- It contains positional PID algorithm, integral separate PID, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, Consider shadow ra