Description: 1 rack is the last before the country ready to buy, the motor is a hollow cup (2000 rpm/min), the model aircraft battery is 11.1V battery
2 uses two msp430f149 minimum system do fly control panels, for attitude control of a piece of used to complete the questions asked, through serial communication between the two
3 gyroscope using MPU9150 (nine-axis), comes with a geomagnetic sensor, no plus geomagnetic sensor
4 Data fusion is the process by internal DMP output MPU9150 the (transplant when the part of the program 32 microcontroller, the clock frequency for the section 430 program made some adjustments)
5. attitude PID control algorithm is
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控制从机.zip
姿态控制主机.zip
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