基于STM32和 RT-Thread RTOS实时操作系统编写的四旋翼飞控程序，包含了四旋翼的各个部分的源码，具有很好的参考价值。-based on STM32 and RT-Thread RTOS, the four rotors control problem contains all parts in the four rotors, it has a good refourance value.

穿越机的软件代码和介绍，基于新唐四旋翼的飞控，内含软件架构和程序解析。-Through the machine s software code and descr iption, based on the new four-rotor flight control Tang, with software architecture and program resolution.

四旋翼飞行器主控程序，飞控的程序另外上传-Four axis aircraft control code