该系统是基于stm32单片机的飞控程序，以MPU6050为核心，运用其内部自带的DMP运算引擎，来融合出当前的姿态角，以串级PID控制算法为核心，能够实现基本悬停，以及基本飞行。

这是IAR工程，用于freescale k60 mcu。PID部分借鉴了apm开源飞控，姿态解算使用了dmp，遥控器部分是解码pwm信号。工程中也有互补滤波的全套代码，只是没有使用。代码写得很乱，仅供参考。

vc++ 6.0使用dbghelp.dll生成dmp内存转储文件，包含h、lib和dbghelp.dll文件，仅供参考。

导入dmp 文件

陀螺仪官方DMP库输出四元函数

九轴陀螺仪MPU9250已经移植好的DMP库

mpu6050姿态原点博士的DMP解算库源代码，使用的不是官方的不开源库文件

Embedded MotionDriver 6.12 is our first ever 9-axis solution not locked to a specific MCU.Version 6.1.2 is an update to 6.1 that includes bug fixes and new libraries. This release is supported across all ARM Mx core architectures and supports the InvenSense MPU-6000, 6050, 6500, 9150, and 9250. The release includes optimized libraries and example projects for M3 and M4 cores as well the generic ARM library for any Mx core and an additional library and project for the TI MSP430. eMD 6.1 also includes a Python client for both visualizing the sensor performance and commands for printing data. This solution will allow you to easily leverage and configure numerous features of the DMP and also benefit from dynamic features in the MPL software library. Libraries specific to IAR, Keil, and GCC are included.

利用mpu6050官方dmp库读取四元数和pitch，roll，yaw，简单实用 利用mpu6050官方dmp库读取四元数和pitch，roll，yaw，简单实用

关于F1系列的MPU9250的DMP，能在正点原子Ministm32上直接运行，得到欧拉角。