姿态解算融合，是Crazepony和核心算法 使用的是Mahony互补滤波算法，没有使用Kalman滤波算法(The fusion of attitude calculation is Crazepony and the core algorithm The Mahony complementary filtering algorithm is used, and the Kalman filtering algorithm is not used)

开源四轴飞行器，单次飞行9分钟，基于stm32(Open source four axis aircraft, single flight 9 minutes, based on stm32)