Based on the stm32 four rotor program source code.Complete with a complete schematic diagram and program, it has been verified by yourself can perfectly d on stm32f103, reliable code decided。

空心杯四轴原理图+程序+边框\01. 原理图.zip
..........................\02. 程序调试.zip
..........................\03. 边框.zip
空心杯四轴原理图+程序+边框

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