四轴飞行器的算法研究，MK用的比较巧妙，主要是通过实时融合和长期融合。-Algorithm axis aircraft, MK with the more subtle, mainly through the real-time integration and long-term integration.

基于Arduino平台的 四轴飞行器飞行控制源码 开发平台和环境是Arduino -quadrocopter flight control source code based on the Arduino platform

四轴飞行器控制程序，内含姿态解算与pid算法，并由本人亲自注释，清晰易懂-Four aircraft control procedures, including attitude solution with pid algorithm, by personally comment, lucid