Aircraft source GY86 attitude solution+PID control

Fly-4
.....\CMSIS
.....\.....\core_cm3.c
.....\.....\core_cm3.h
.....\.....\startup
.....\.....\.......\startup_stm32f10x_cl.s
.....\.....\.......\startup_stm32f10x_hd.s
.....\.....\.......\startup_stm32f10x_hd_vl.s
.....\.....\.......\startup_stm32f10x_ld.s
.....\.....\.......\startup_stm32f10x_ld_vl.s
.....\.....\.......\startup_stm32f10x_md.s
.....\.....\.......\startup_stm32f10x_md_vl.s
.....\.....\.......\startup_stm32f10x_xl.s
.....\.....\stm32f10x.h
.....\.....\system_stm32f10x.c
.....\.....\system_stm32f10x.h
.....\FWlib
.....\.....\inc
.....\.....\...\misc.h
.....\.....\...\stm32f10x_adc.h
.....\.....\...\stm32f10x_bkp.h
.....\.....\...\stm32f10x_can.h
.....\.....\...\stm32f10x_cec.h
.....\.....\...\stm32f10x_crc.h
.....\.....\...\stm32f10x_dac.h
.....\.....\...\stm32f10x_dbgmcu.h
.....\.....\...\stm32f10x_dma.h
.....\.....\...\stm32f10x_exti.h
.....\.....\...\stm32f10x_flash.h
.....\.....\...\stm32f10x_fsmc.h
.....\.....\...\stm32f10x_gpio.h
.....\.....\...\stm32f10x_i2c.h
.....\.....\...\stm32f10x_iwdg.h
.....\.....\...\stm32f10x_pwr.h
.....\.....\...\stm32f10x_rcc.h
.....\.....\...\stm32f10x_rtc.h
.....\.....\...\stm32f10x_sdio.h
.....\.....\...\stm32f10x_spi.h
.....\.....\...\stm32f10x_tim.h
.....\.....\...\stm32f10x_usart.h
.....\.....\...\stm32f10x_wwdg.h
.....\.....\src
.....\.....\...\misc.c
.....\.....\...\stm32f10x_adc.c
.....\.....\...\stm32f10x_bkp.c
.....\.....\...\stm32f10x_can.c
.....\.....\...\stm32f10x_cec.c
.....\.....\...\stm32f10x_crc.c
.....\.....\...\stm32f10x_dac.c
.....\.....\...\stm32f10x_dbgmcu.c
.....\.....\...\stm32f10x_dma.c
.....\.....\...\stm32f10x_exti.c
.....\.....\...\stm32f10x_flash.c
.....\.....\...\stm32f10x_fsmc.c
.....\.....\...\stm32f10x_gpio.c
.....\.....\...\stm32f10x_i2c.c
.....\.....\...\stm32f10x_iwdg.c
.....\.....\...\stm32f10x_pwr.c
.....\.....\...\stm32f10x_rcc.c
.....\.....\...\stm32f10x_rtc.c
.....\.....\...\stm32f10x_sdio.c
.....\.....\...\stm32f10x_spi.c
.....\.....\...\stm32f10x_tim.c
.....\.....\...\stm32f10x_usart.c
.....\.....\...\stm32f10x_wwdg.c
.....\Hardware
.....\........\MPU6050.c
.....\........\MPU6050.h
.....\........\PWM Input Capture.c
.....\........\PWM Input Capture.h
.....\........\ascii.h
.....\........\delay.c
.....\........\delay.h
.....\........\eeprom.c
.....\........\eeprom.h
.....\........\fly_control.c
.....\........\fly_control.h
.....\........\hmc5883l.c
.....\........\hmc5883l.h
.....\........\imu_unit.c
.....\........\imu_unit.h
.....\........\ms5611.c
.....\........\ms5611.h
.....\........\pwm_1.c
.....\........\pwm_1.h
.....\........\stmflash.c
.....\........\stmflash.h
.....\........\tft.c
.....\........\tft.h
.....\........\timer.c
.....\........\timer.h
.....\........\usart1.c
.....\........\usart1.h
.....\I2C-LIB
.....\.......\ANO_TC_STM32F1_I2C.h
.....\.......\ANO_TC_STM32F1_I2C.lib
.....\Listing
.....\.......\Control.map
.....\.......\startup_stm32f10x_hd.lst
.....\Output

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