采用四元数算法，来确定飞行器的姿态状况，同时通过PID方法，调节飞行器的飞行姿态。-Quaternion algorithm to determine the status of the aircraft s attitude, but by PID method, adjusting aircraft flight attitude.

基于stm32和MPU6050的程序，运用卡曼滤波实现姿态测量-Based stm32 and MPU6050 procedures using Kalman Filtering attitude measurement

文件中写的是卡尔曼滤波的在姿态解算中的应用，亲自验证可用，还带有部分注释-File written Kalman filter used in the attitude solution, personally verify available, but also with comments section