AHRS航姿参考系统源代码，处理器为STM32f1系列，编译器为MDK，里面有陀螺仪，加速度计，磁力计和气压计数据融合解算姿态角的源代码(AHRS air reference system source code, the processor for the STM32f1 series, the compiler for the MDK, which has gyroscope, accelerometer, magnetometer and barometer data fusion, ca

通过加速计和磁力计融合计算姿态角。通过MOSBUS协议发送数据和核准命令。(Calculation of attitude angle by accelerometer and magnetometer.)