I do four rotorcraft source, this is a pure version of the remote control, you can achieve a stable flight, containing mpu6050,5883l, and other sensor-driven, and quaternion attitude solution, and PID, and a remote unlock locked, etc.

Myfly_IMU6050_ZI_250_yaokong
............................\Control
............................\.......\control.c
............................\.......\control.h
............................\HardWareDriver
............................\..............\ADNS3080
............................\..............\........\ADNS-3080固件
............................\..............\........\.............\adns3080_srom_51
............................\..............\........\.............\................\adns3080_srom_51.c
............................\..............\........\.............\................\adns3080_srom_51.inc
............................\..............\........\.............\adns3080_srom_51.zip
............................\..............\........\ADNS3080.c
............................\..............\........\ADNS3080.h
............................\..............\........\srom.h
............................\..............\BMP085
............................\..............\......\BMP085.c
............................\..............\......\BMP085.h
............................\..............\BMP180
............................\..............\......\BMP180.c
............................\..............\......\BMP180.h
............................\..............\HMC5883L
............................\..............\........\HMC5883L.c
............................\..............\........\HMC5883L.h
............................\..............\IMU
............................\..............\...\IMU.c
............................\..............\...\IMU.h
............................\..............\IOI2C.c
............................\..............\IOI2C.h
............................\..............\LED
............................\..............\...\LED.c
............................\..............\...\LED.h
............................\..............\MPU6050
............................\..............\.......\MPU6050.c
............................\..............\.......\MPU6050.h
............................\..............\MS5611
............................\..............\......\MS5611.c
............................\..............\......\MS5611.h
............................\..............\SPI
............................\..............\...\spi.c
............................\..............\...\spi.h
............................\..............\Sys
............................\..............\...\sys.c
............................\..............\...\sys.h
............................\..............\TIMER
............................\..............\.....\timer.c
............................\..............\.....\timer.h
............................\..............\UART2
............................\..............\.....\UART2.c
............................\..............\.....\UART2.h
............................\..............\UARTs
............................\..............\.....\UARTs.c
............................\..............\.....\UARTs.h
............................\..............\common.h
............................\..............\delay.c
............................\..............\delay.h
............................\..............\sys.h
............................\JLinkLog.txt
............................\JLinkSettings.ini
............................\Lib
............................\...\Release_Notes.html
............................\...\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.

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