The design is based on a four-axis STM32F4 aerial platform. In STM32F407 as the control center, four aircraft carrier, supported by the head of the aerial system. By flight control hardware circuits, power management, communication modules, power systems, racks, head servo system. Using simple and stable on quaternion algorithm for filtering as a complementary gesture solver algorithm, PID as a controller to achieve flight, PTZ augmentation and other functions. Flexible lightweight, malleable, adaptable and good features.

软件源代码
..........\F4-FLYC
..........\.......\CMSIS
..........\.......\.....\startup
..........\.......\.....\.......\startup_stm32f4xx.s
..........\.......\.....\system_stm32f4xx.c
..........\.......\.....\system_stm32f4xx.h
..........\.......\FWlib
..........\.......\.....\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
..........\.......\SOURECE
..........\.......\.......\inc
..........\.......\.......\...\IIC.h
..........\.......\.......\...\MPU6050.h
..........\.......\.......\...\control.h
..........\.......\.......\...\delay.h
..........\.......\.......\...\led.h
..........\.......\.......\...\pwm_in.h
..........\.......\.......\...\pwm_output.h
..........\.......\.......\...\stm32f4xx_conf.h
..........\.......\.......\...\stm32f4xx_it.h
..........\.......\.......\...\timer.h
..........\.......\.......\...\usart.h
..........\.......\.......\src
..........\.......\.......\...\IIC.c
..........\.......\.......\...\IMU.c
..........\.......\.......\...\IMU.h
..........\.......\.......\...\MPU6050.c
..........\.......\.......\...\control.c
...

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