Based on STM32F4 flight control procedures, quaternion complementary filter

F4-FLYC
.......\CMSIS
.......\.....\startup
.......\.....\.......\startup_stm32f4xx.s
.......\.....\system_stm32f4xx.c
.......\.....\system_stm32f4xx.h
.......\FWlib
.......\.....\inc
.......\.....\Include
.......\.....\.......\arm_common_tables.h
.......\.....\.......\arm_math.h
.......\.....\.......\core_cm0.h
.......\.....\.......\core_cm3.h
.......\.....\.......\core_cm4.h
.......\.....\.......\core_cm4_simd.h
.......\.....\.......\core_cmFunc.h
.......\.....\.......\core_cmInstr.h
.......\.....\inc\misc.h
.......\.....\...\stm32f4xx_adc.h
.......\.....\...\stm32f4xx_can.h
.......\.....\...\stm32f4xx_crc.h
.......\.....\...\stm32f4xx_cryp.h
.......\.....\...\stm32f4xx_dac.h
.......\.....\...\stm32f4xx_dbgmcu.h
.......\.....\...\stm32f4xx_dcmi.h
.......\.....\...\stm32f4xx_dma.h
.......\.....\...\stm32f4xx_exti.h
.......\.....\...\stm32f4xx_flash.h
.......\.....\...\stm32f4xx_fsmc.h
.......\.....\...\stm32f4xx_gpio.h
.......\.....\...\stm32f4xx_hash.h
.......\.....\...\stm32f4xx_i2c.h
.......\.....\...\stm32f4xx_iwdg.h
.......\.....\...\stm32f4xx_pwr.h
.......\.....\...\stm32f4xx_rcc.h
.......\.....\...\stm32f4xx_rng.h
.......\.....\...\stm32f4xx_rtc.h
.......\.....\...\stm32f4xx_sdio.h
.......\.....\...\stm32f4xx_spi.h
.......\.....\...\stm32f4xx_syscfg.h
.......\.....\...\stm32f4xx_tim.h
.......\.....\...\stm32f4xx_usart.h
.......\.....\...\stm32f4xx_wwdg.h
.......\.....\src
.......\.....\...\misc.c
.......\.....\...\stm32f4xx_adc.c
.......\.....\...\stm32f4xx_can.c
.......\.....\...\stm32f4xx_crc.c
.......\.....\...\stm32f4xx_cryp.c
.......\.....\...\stm32f4xx_cryp_aes.c
.......\.....\...\stm32f4xx_cryp_des.c
.......\.....\...\stm32f4xx_cryp_tdes.c
.......\.....\...\stm32f4xx_dac.c
.......\.....\...\stm32f4xx_dbgmcu.c
.......\.....\...\stm32f4xx_dcmi.c
.......\.....\...\stm32f4xx_dma.c
.......\.....\...\stm32f4xx_exti.c
.......\.....\...\stm32f4xx_flash.c
.......\.....\...\stm32f4xx_fsmc.c
.......\.....\...\stm32f4xx_gpio.c
.......\.....\...\stm32f4xx_hash.c
.......\.....\...\stm32f4xx_hash_md5.c
.......\.....\...\stm32f4xx_hash_sha1.c
.......\.....\...\stm32f4xx_i2c.c
.......\.....\...\stm32f4xx_iwdg.c
.......\.....\...\stm32f4xx_pwr.c
.......\.....\...\stm32f4xx_rcc.c
.......\.....\...\stm32f4xx_rng.c
.......\.....\...\stm32f4xx_rtc.c
.......\.....\...\stm32f4xx_sdio.c
.......\.....\...\stm32f4xx_spi.c
.......\.....\...\stm32f4xx_syscfg.c
.......\.....\...\stm32f4xx_tim.c
.......\.....\...\stm32f4xx_usart.c
.......\.....\...\stm32f4xx_wwdg.c
.......\OUTPUT
.......\......\control.d
.......\......\delay.d
.......\......\iic.d
.......\......\imu.d
.......\......\led.d
.......\......\main.d
.......\......\misc.d
.......\......\mpu6050.d
.......\......\pwm_in.d
.......\......\pwm_output.d
.......\......\QrH-9-28.build_log.htm
.......\......\QrH-9-28.sct
.......\......\QrH-9-28_QrH.dep
.......\......\startup_stm32f4xx.d
.......\......\startup_stm32f4xx.o
.......\......\stm32f4xx_exti.d
.......\......\stm32f4xx_gpio.d
.......\......\stm32f4xx_it.d
.......\......\stm32f4xx_rcc.d
.......\......\stm32f4xx_rtc.d
.......\......\stm32f4xx_tim.d
.......\......\stm32f4xx_usart.d
.......\......\system_stm32f4xx.d
.......\......\timer.d

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