硬件 STM32 + mpu9250 (含有磁力计AK8963的SPI通信配置,需要注意I2C和SPI通信速度)
四轴飞行器 全套代码 包括姿态控制(滑动平均值滤波+互补滤波)、遥控器通信、双闭环PID电机控制算法
上位机采用匿名四轴上位机 包含调试
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