使用KEIL5编译的TM4C123GH6MP四旋翼飞控代码。通过串口读遥控器、MPU6050、超声波数据，并通过PID控制姿态和高度。(TM4C123GH6MP four rotor flight control code compiled by KEIL5. Read remote control, MPU6050, ultrasonic data through serial port, and control posture and height through PID.)