一套注释详细的飞控源码。飞控芯片采用了stm32，包含pid 姿态解算 数据融合等。
资源文件列表
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/BMP085/BMP085.c , 11407
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/BMP085/BMP085.h , 3232
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/delay.c , 2359
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/delay.h , 223
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/HMC5883L/HMC5883L.c , 10580
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/HMC5883L/HMC5883L.h , 1575
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/IMU/IMU.c , 9641
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/IMU/IMU.h , 437
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/IOI2C.c , 9488
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/IOI2C.h , 2666
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/LED/LED.c , 4803
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/LED/LED.h , 416
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/MPU6050/MPU6050.c , 11168
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/MPU6050/MPU6050.h , 14345
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/UART2/UART2.c , 13192
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/UART2/UART2.h , 900
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/UARTs/UARTs.c , 11499
STM32_AHRS_WorkDir/1.MPU6050Test/HardWareDriver/UARTs/UARTs.h , 778
STM32_AHRS_WorkDir/1.MPU6050Test/JLinkLog.txt , 139120
STM32_AHRS_WorkDir/1.MPU6050Test/JLinkSettings.ini , 573
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/misc.h , 8982
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_adc.h , 21690
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_bkp.h , 7555
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_can.h , 27559
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_cec.h , 6573
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_crc.h , 2162
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_dac.h , 15233
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_dbgmcu.h , 3818
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_dma.h , 20754
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_exti.h , 6824
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_flash.h , 25445
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_fsmc.h , 27016
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_gpio.h , 20175
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_i2c.h , 30029
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_iwdg.h , 3828
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_pwr.h , 4383
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_rcc.h , 30452
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_rtc.h , 3857
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_sdio.h , 21863
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_spi.h , 17725
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_tim.h , 52427
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_usart.h , 16548
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/inc/stm32f10x_wwdg.h , 2966
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/Release_Notes.html , 29246
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/misc.c , 7046
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_adc.c , 47201
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_bkp.c , 8463
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_can.c , 45103
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_cec.c , 11656
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_crc.c , 3347
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_dac.c , 19087
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_dbgmcu.c , 5149
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_dma.c , 29607
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_exti.c , 6959
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_flash.c , 62551
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_fsmc.c , 35484
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_gpio.c , 23221
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_i2c.c , 45785
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_iwdg.c , 4916
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_pwr.c , 8759
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_rcc.c , 51271
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_rtc.c , 8598
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_sdio.c , 28933
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_spi.c , 30224
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_tim.c , 109159
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_usart.c , 38308
STM32_AHRS_WorkDir/1.MPU6050Test/Lib/src/stm32f10x_wwdg.c , 5735
STM32_AHRS_WorkDir/1.MPU6050Test/List/MPU6050_Test.map , 90761
STM32_AHRS_WorkDir/1.MPU6050Test/List/startup_stm32f10x_md.lst , 41779
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test.plg , 3903
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test.uvgui.Administrator , 4618
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test.uvgui_Administrator.bak , 4626
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test.uvopt , 14136
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test.uvproj , 18505
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test_MPU6050_Test.dep , 8173
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test_Target 1.dep , 79
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test_uvopt.bak , 14136
STM32_AHRS_WorkDir/1.MPU6050Test/MPU6050_Test_uvproj.bak , 17838
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/core_cm3.crf , 3542
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/core_cm3.d , 106
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/core_cm3.o , 10364
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/delay.crf , 310276
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/delay.d , 944
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/delay.o , 332804
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/delay.__i , 484
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/ioi2c.crf , 315904
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/ioi2c.d , 986
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/ioi2c.o , 340628
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/ioi2c.__i , 484
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/led.crf , 310802
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/led.d , 906
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/led.o , 334240
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/led.__i , 480
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/main.crf , 334693
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/main.d , 1217
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/main.o , 351336
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/main.__i , 474
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/misc.crf , 310456
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/misc.d , 909
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/misc.o , 332420
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/misc.__i , 473
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/mpu6050.crf , 330793
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/mpu6050.d , 1146
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/mpu6050.o , 354872
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/mpu6050.__i , 500
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/MPU6050_Test.axf , 367456
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/MPU6050_Test.htm , 92207
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/MPU6050_Test.lnp , 695
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/MPU6050_Test.plg , 183
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/MPU6050_Test.tra , 2195
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/startup_stm32f10x_md.d , 65
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/startup_stm32f10x_md.o , 5928
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_gpio.crf , 313949
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_gpio.d , 1139
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_gpio.o , 338860
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_gpio.__i , 513
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_it.crf , 309924
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_it.d , 1093
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_it.o , 333024
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_it.__i , 506
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_rcc.crf , 317530
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_rcc.d , 1116
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_rcc.o , 343252
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_rcc.__i , 509
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_tim.crf , 332537
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_tim.d , 1116
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_tim.o , 367572
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_tim.__i , 509
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_usart.crf , 316062
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_usart.d , 1162
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_usart.o , 343020
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/stm32f10x_usart.__i , 517
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/system_stm32f10x.crf , 311635
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/system_stm32f10x.d , 1120
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/system_stm32f10x.o , 332872
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uart2.crf , 319231
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uart2.d , 1017
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uart2.o , 343600
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uart2.__i , 490
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uarts.crf , 318948
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uarts.d , 1019
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uarts.o , 342184
STM32_AHRS_WorkDir/1.MPU6050Test/OutPut/uarts.__i , 490
STM32_AHRS_WorkDir/1.MPU6050Test/StartUp/core_cm3.c , 17273
STM32_AHRS_WorkDir/1.MPU6050Test/StartUp/core_cm3.h , 85714
STM32_AHRS_WorkDir/1.MPU6050Test/StartUp/startup_stm32f10x_md.s , 12762
STM32_AHRS_WorkDir/1.MPU6050Test/StartUp/stm32f10x.h , 633937
STM32_AHRS_WorkDir/1.MPU6050Test/StartUp/system_stm32f10x.c , 36557
STM32_AHRS_WorkDir/1.MPU6050Test/StartUp/system_stm32f10x.h , 2085
STM32_AHRS_WorkDir/1.MPU6050Test/User_Src/main.c , 2064
STM32_AHRS_WorkDir/1.MPU6050Test/User_Src/stm32f10x_conf.h , 3256
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