This I buy small four axis inside the aircraft s source code, can be to learn from, comment is clear, the other, about four axis fixed high no open source so can t see.

源代码2_圆点博士小四轴2015P源代码
.................................\BS2015P_FLY_Release_V01
.................................\.......................\etootle_lib
.................................\.......................\...........\etootle_adc.c
.................................\.......................\...........\etootle_adc.h
.................................\.......................\...........\etootle_bluetooth.c
.................................\.......................\...........\etootle_bluetooth.h
.................................\.......................\...........\etootle_imu.c
.................................\.......................\...........\etootle_imu.h
.................................\.......................\...........\etootle_led.c
.................................\.......................\...........\etootle_led.h
.................................\.......................\...........\etootle_motor.c
.................................\.......................\...........\etootle_motor.h
.................................\.......................\...........\etootle_mpu6050.c
.................................\.......................\...........\etootle_mpu6050.h
.................................\.......................\...........\etootle_parameter.c
.................................\.......................\...........\etootle_parameter.h
.................................\.......................\...........\etootle_pid.c
.................................\.......................\...........\etootle_pid.h
.................................\.......................\...........\etootle_sys.c
.................................\.......................\...........\etootle_sys.h
.................................\.......................\etootle_user
.................................\.......................\............\etootle_main.c
.................................\.......................\............\etootle_main.h
.................................\.......................\output
.................................\.......................\......\BS2015P_FLY_MAIN.plg
.................................\.......................\......\BS2015P_FLY_MAIN.sct
.................................\.......................\......\BS2015P_FLY_MAIN.tra
.................................\.......................\project
.................................\.......................\.......\BS_2015P_FLY_Main_FWH.uvgui.q190
.................................\.......................\.......\BS_2015P_FLY_Main_FWH.uvgui_q190.bak
.................................\.......................\.......\BS_2015P_FLY_Main_FWH.uvopt
.................................\.......................\.......\BS_2015P_FLY_Main_FWH.uvproj
.................................\.......................\.......\BS_2015P_FLY_Main_FWH_BS004X_Fly_With_BL.dep
.................................\.......................\.......\BS_2015P_FLY_Main_FWH_uvopt.bak
.................................\.......................\.......\BS_2015P_FLY_Main_FWH_uvproj.bak
.................................\.......................\.......\JLinkLog.txt
.................................\.......................\.......\JLinkSettings.ini
.................................\.......................\.......\STM32F10x.lst
.................................\.......................\readme
.................................\.......................\......\readme.c
.................................\.......................\stm32_lib
.................................\.......................\.........\inc
.................................\.......................\.........\...\cortexm3_macro.h
.................................\.......................\.........\...\stm32f10x_adc.h
.................................\.......................\.........\...\stm32f10x_bkp.h
.................................\.......................\.........\...\stm32f10x_can.h
.................................\.......................\.........\...\stm32f10x_conf.h
.................................\.......................\.........\...\stm32f10x_crc.h

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