有关四旋翼的例程，程序中利用了加速度计和陀螺仪外加磁力计的融合，实现了较为稳定的四旋翼平衡。-Program using the accelerometer and gyroscope and magnetometers, implements the four rotor balance is relatively stable.

匿名四轴飞控主板源码V1.4，无人机，领航者(ANO V1.4 master Source code (Four axis aircraft, UAV))