有关四旋翼的例程，程序中利用了加速度计和陀螺仪外加磁力计的融合，实现了较为稳定的四旋翼平衡。
资源文件列表
F407_FC_ANO 1.4/applications/ctrl.c , 9700
F407_FC_ANO 1.4/applications/ctrl.h , 750
F407_FC_ANO 1.4/applications/data_transfer.c , 20018
F407_FC_ANO 1.4/applications/data_transfer.h , 1357
F407_FC_ANO 1.4/applications/filter.c , 1599
F407_FC_ANO 1.4/applications/filter.h , 161
F407_FC_ANO 1.4/applications/height_ctrl.c , 4633
F407_FC_ANO 1.4/applications/height_ctrl.h , 686
F407_FC_ANO 1.4/applications/imu.c , 6145
F407_FC_ANO 1.4/applications/imu.h , 443
F407_FC_ANO 1.4/applications/include.h , 2879
F407_FC_ANO 1.4/applications/init.c , 1463
F407_FC_ANO 1.4/applications/init.h , 116
F407_FC_ANO 1.4/applications/main.c , 621
F407_FC_ANO 1.4/applications/mymath.c , 7883
F407_FC_ANO 1.4/applications/mymath.h , 1078
F407_FC_ANO 1.4/applications/parameter.c , 8048
F407_FC_ANO 1.4/applications/parameter.h , 924
F407_FC_ANO 1.4/applications/rc.c , 5288
F407_FC_ANO 1.4/applications/rc.h , 254
F407_FC_ANO 1.4/applications/scheduler.c , 3340
F407_FC_ANO 1.4/applications/scheduler.h , 331
F407_FC_ANO 1.4/applications/stm32f4xx_conf.h , 3813
F407_FC_ANO 1.4/applications/stm32f4xx_it.c , 909
F407_FC_ANO 1.4/applications/usbd_user_hid.c , 3971
F407_FC_ANO 1.4/applications/usbd_user_hid.h , 203
F407_FC_ANO 1.4/applications/usbd_user_msc.c , 37362
F407_FC_ANO 1.4/applications/usb_config.c , 25316
F407_FC_ANO 1.4/applications/version.c , 1125
F407_FC_ANO 1.4/applications/version.h , 866
F407_FC_ANO 1.4/build/ak8975.crf , 361479
F407_FC_ANO 1.4/build/ak8975.d , 2332
F407_FC_ANO 1.4/build/ak8975.o , 393432
F407_FC_ANO 1.4/build/ctrl.crf , 391279
F407_FC_ANO 1.4/build/ctrl.d , 2398
F407_FC_ANO 1.4/build/ctrl.o , 417912
F407_FC_ANO 1.4/build/data_transfer.crf , 399773
F407_FC_ANO 1.4/build/data_transfer.d , 3037
F407_FC_ANO 1.4/build/data_transfer.o , 434332
F407_FC_ANO 1.4/build/diskio.crf , 352169
F407_FC_ANO 1.4/build/diskio.d , 1927
F407_FC_ANO 1.4/build/diskio.o , 379728
F407_FC_ANO 1.4/build/drv_w25qxx.crf , 358993
F407_FC_ANO 1.4/build/drv_w25qxx.d , 1977
F407_FC_ANO 1.4/build/drv_w25qxx.o , 383692
F407_FC_ANO 1.4/build/F407_FC.axf , 944764
F407_FC_ANO 1.4/build/F407_FC.build_log.htm , 941
F407_FC_ANO 1.4/build/F407_FC.hex , 239984
F407_FC_ANO 1.4/build/F407_FC.htm , 277043
F407_FC_ANO 1.4/build/F407_FC.lnp , 1397
F407_FC_ANO 1.4/build/F407_FC.map , 171532
F407_FC_ANO 1.4/build/F407_FC.plg , 2012
F407_FC_ANO 1.4/build/F407_FC.sct , 479
F407_FC_ANO 1.4/build/F407_FC_Anopilot.dep , 112375
F407_FC_ANO 1.4/build/ff.crf , 45934
F407_FC_ANO 1.4/build/ff.d , 213
F407_FC_ANO 1.4/build/ff.o , 58804
F407_FC_ANO 1.4/build/filter.crf , 358083
F407_FC_ANO 1.4/build/filter.d , 2198
F407_FC_ANO 1.4/build/filter.o , 387784
F407_FC_ANO 1.4/build/height_ctrl.crf , 391482
F407_FC_ANO 1.4/build/height_ctrl.d , 2926
F407_FC_ANO 1.4/build/height_ctrl.o , 420336
F407_FC_ANO 1.4/build/i2c_soft.crf , 353583
F407_FC_ANO 1.4/build/i2c_soft.d , 1904
F407_FC_ANO 1.4/build/i2c_soft.o , 382096
F407_FC_ANO 1.4/build/imu.crf , 372367
F407_FC_ANO 1.4/build/imu.d , 2291
F407_FC_ANO 1.4/build/imu.o , 400048
F407_FC_ANO 1.4/build/init.crf , 390192
F407_FC_ANO 1.4/build/init.d , 2586
F407_FC_ANO 1.4/build/init.o , 416352
F407_FC_ANO 1.4/build/led.crf , 361759
F407_FC_ANO 1.4/build/led.d , 2199
F407_FC_ANO 1.4/build/led.o , 393372
F407_FC_ANO 1.4/build/main.crf , 356861
F407_FC_ANO 1.4/build/main.d , 2087
F407_FC_ANO 1.4/build/main.o , 384560
F407_FC_ANO 1.4/build/misc.crf , 349935
F407_FC_ANO 1.4/build/misc.d , 1824
F407_FC_ANO 1.4/build/misc.o , 375268
F407_FC_ANO 1.4/build/mpu6050.crf , 378032
F407_FC_ANO 1.4/build/mpu6050.d , 2276
F407_FC_ANO 1.4/build/mpu6050.o , 407528
F407_FC_ANO 1.4/build/ms5611.crf , 386251
F407_FC_ANO 1.4/build/ms5611.d , 2364
F407_FC_ANO 1.4/build/ms5611.o , 409980
F407_FC_ANO 1.4/build/mymath.crf , 351283
F407_FC_ANO 1.4/build/mymath.d , 1822
F407_FC_ANO 1.4/build/mymath.o , 382392
F407_FC_ANO 1.4/build/parameter.crf , 401134
F407_FC_ANO 1.4/build/parameter.d , 2917
F407_FC_ANO 1.4/build/parameter.o , 424416
F407_FC_ANO 1.4/build/pwm_in.crf , 362359
F407_FC_ANO 1.4/build/pwm_in.d , 2194
F407_FC_ANO 1.4/build/pwm_in.o , 390792
F407_FC_ANO 1.4/build/pwm_out.crf , 361424
F407_FC_ANO 1.4/build/pwm_out.d , 2281
F407_FC_ANO 1.4/build/pwm_out.o , 390456
F407_FC_ANO 1.4/build/rc.crf , 375296
F407_FC_ANO 1.4/build/rc.d , 2122
F407_FC_ANO 1.4/build/rc.o , 403944
F407_FC_ANO 1.4/build/scheduler.crf , 391852
F407_FC_ANO 1.4/build/scheduler.d , 2875
F407_FC_ANO 1.4/build/scheduler.o , 420964
F407_FC_ANO 1.4/build/startup_stm32f4xx.d , 100
F407_FC_ANO 1.4/build/startup_stm32f4xx.lst , 88514
F407_FC_ANO 1.4/build/startup_stm32f4xx.o , 7912
F407_FC_ANO 1.4/build/stm32f4xx_adc.crf , 364820
F407_FC_ANO 1.4/build/stm32f4xx_adc.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_adc.o , 394488
F407_FC_ANO 1.4/build/stm32f4xx_dbgmcu.crf , 349280
F407_FC_ANO 1.4/build/stm32f4xx_dbgmcu.d , 2160
F407_FC_ANO 1.4/build/stm32f4xx_dbgmcu.o , 375072
F407_FC_ANO 1.4/build/stm32f4xx_dma.crf , 371488
F407_FC_ANO 1.4/build/stm32f4xx_dma.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_dma.o , 388720
F407_FC_ANO 1.4/build/stm32f4xx_exti.crf , 351115
F407_FC_ANO 1.4/build/stm32f4xx_exti.d , 2104
F407_FC_ANO 1.4/build/stm32f4xx_exti.o , 376652
F407_FC_ANO 1.4/build/stm32f4xx_flash.crf , 355567
F407_FC_ANO 1.4/build/stm32f4xx_flash.d , 2132
F407_FC_ANO 1.4/build/stm32f4xx_flash.o , 385236
F407_FC_ANO 1.4/build/stm32f4xx_gpio.crf , 357956
F407_FC_ANO 1.4/build/stm32f4xx_gpio.d , 2104
F407_FC_ANO 1.4/build/stm32f4xx_gpio.o , 381884
F407_FC_ANO 1.4/build/stm32f4xx_i2c.crf , 361387
F407_FC_ANO 1.4/build/stm32f4xx_i2c.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_i2c.o , 390056
F407_FC_ANO 1.4/build/stm32f4xx_it.crf , 357316
F407_FC_ANO 1.4/build/stm32f4xx_it.d , 2367
F407_FC_ANO 1.4/build/stm32f4xx_it.o , 386740
F407_FC_ANO 1.4/build/stm32f4xx_pwr.crf , 351693
F407_FC_ANO 1.4/build/stm32f4xx_pwr.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_pwr.o , 378048
F407_FC_ANO 1.4/build/stm32f4xx_rcc.crf , 361982
F407_FC_ANO 1.4/build/stm32f4xx_rcc.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_rcc.o , 394144
F407_FC_ANO 1.4/build/stm32f4xx_spi.crf , 360249
F407_FC_ANO 1.4/build/stm32f4xx_spi.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_spi.o , 386960
F407_FC_ANO 1.4/build/stm32f4xx_syscfg.crf , 350072
F407_FC_ANO 1.4/build/stm32f4xx_syscfg.d , 2160
F407_FC_ANO 1.4/build/stm32f4xx_syscfg.o , 375980
F407_FC_ANO 1.4/build/stm32f4xx_tim.crf , 407654
F407_FC_ANO 1.4/build/stm32f4xx_tim.d , 2076
F407_FC_ANO 1.4/build/stm32f4xx_tim.o , 427700
F407_FC_ANO 1.4/build/stm32f4xx_usart.crf , 363990
F407_FC_ANO 1.4/build/stm32f4xx_usart.d , 2132
F407_FC_ANO 1.4/build/stm32f4xx_usart.o , 389780
F407_FC_ANO 1.4/build/system_stm32f4xx.crf , 350558
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