用于四轴飞行器的姿态算法，内含各种矩阵加减乘转置、求逆等运算，及姿态kalman滤波算法，可适用于低速旋翼机的姿态导航-For four-axis spacecraft attitude algorithm, containing a variety of matrix addition and subtraction to multiply the transpose and inverse operations, and attitude Kalman filtering algorithm

市电均方根值算法及滤波，市电逆变锁相，飞思卡尔HCS08核心平台，汇编语言；(City power RMS algorithm and filter, power inverter phase lock, fly Carle HCS08 core platform, assembly language;)

飞思卡尔平台，汇编语言，逆变器输出任务，主要包括输出RMS计算，输出滤波和输出RMS调节；(Freescale Carle platform, assembly language, inverter output tasks, including the output RMS calculation, output filtering and output RMS regulation;)