使用四元数计算各个时刻的姿态数据，并能在欧拉角和四元数，旋转矩阵之间转换，通过地磁数据校正陀螺仪算出的姿态。MADGWICKAHRS Implementation of Madgwick s IMU and AHRS algorithms-MADGWICKAHRS Implementation of Madgwick s IMU and AHRS algorithms

四轴飞行器飞控程序，串级PID，外环PI内环PID，四元数互补滤波，辅助三角函数姿态解算。-Four-axis aircraft flight control procedures, Cascade PID, PI outer inner PID, quaternion complementary filter, auxiliary trigonometric attitude solution.