STM32定时器的基本应用，PWM的的输入捕获，硬件调试通过，基本没有误差。 -The basic application of the STM32 timer, PWM input capture hardware debugging through, basically there is no error.

基于stm32的四轴飞行器，通过IIC连接MUP6050模块，姿态解算，PID控制，输入捕获-Based quadrocopter stm32 by IIC connection MUP6050 module, attitude solution, PID control, input capture