mwc开源飞控的代码，做四轴的可以参考一下-mwc flight control source code, so you can refer to the four axes

这是一款开源飞控，小四轴的源代码，代码精简，适合初学者学习，但是里面的姿态解算算法输出不够理想。-This is an open source flight control, a small four-axis source code, streamlined code, suitable for beginners to learn, but inside the pose algorithm algorithm output is not ideal.