本工程使用Visul stdio 2008 编写。MFC窜口通信，来控制舵机 ，使舵机连接的接受保持水平。本设计使用MPU6050六轴传感器，来读收不姿态变化。-The project uses Visul stdio write 2008. MFC channeling port communications, to control the steering, so that servos connected to maintain acceptable levels. This design

在STM32F407上实现姿态的检测，通过该程序可以求得3轴角速度和角加速度(The attitude detection is realized on STM32F407, and the 3 axis angular velocity and angular acceleration can be obtained by this program)

使用STM32F4来驱动MPU6050，读取其原始数据，并利用其自带的DMP实现姿态解算，结合匿名四轴上位机软件和LCD显示(Using STM32F4 to drive MPU6050, read its original data, and use its own DMP to realize attitude calculation, combined with anonymous four axis PC software and LCD display)

实验器材: 探索者STM32F4开发板 实验目的: 学习MPU6050 六轴传感器(三轴加速度+三轴陀螺仪)的使用. 硬件资源: 1,DS0(连接在PF9) 2,串口1(波特率:115200,PA9/PA10连接在板载USB转串口芯片CH340上面) 3,ALIENTEK 2.8/3.5/4.3/7寸TFTLCD模块(通过FSMC驱动,FSMC_NE4接LCD片选/A6接RS) 4,KEY0按键(连接在PE4) 5,MPU6050传感器(连接在PB8(