1 rack is the last before the country ready to buy, the motor is a hollow cup (2000 rpm/min), the model aircraft battery is 11.1V battery 2 uses two msp430f149 minimum system do fly control panels, for attitude control of a piece of used to complete the questions asked, through serial communication between the two 3 gyroscope using MPU9150 (nine-axis), comes with a geomagnetic sensor, no plus geomagnetic sensor 4 Data fusion is the process by internal DMP output MPU9150 the (transplant when the part of the program 32 microcontroller, the clock frequency for the section 430 program made ​ ​ some adjustments) 5. attitude PID control algorithm is

控制从机.zip
姿态控制主机.zip

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