Foreign site www.openpilot.com open source is a UAV GPS Aided INS navigation algorithm program, said many domestic UAV use this navigation algorithm, to study INS friends may be helpful

AHRS\ahrs.c
....\ahrs_timer.c
....\insgps13state.c
....\insgps16state.c
....\Makefile
....\pios_board.c
....\test.c
....\inc\ahrs.h
....\...\ahrs_fsm.h
....\...\ahrs_timer.h
....\...\insgps.h
....\...\pios_config.h
....\inc
AHRS

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