匿名四轴飞控的开源代码。包含PID算法，卡尔曼滤波。-Anonymous four axes flight control of open source code. Contains the PID algorithm, and kalman filter.

匿名四轴的飞控源码，适合于学习stm32编程，而且注释比较清楚，容易看懂，感谢匿名！(Anonymous four axis flight control source code, suitable for learning STM32 programming, and notes are more clear, easy to understand, thank you anonymous!)