yes,it is our quadcopter. SKYWORKS this code is mainly based on fang xin's miniquad,thanks for his work,especially the excellent IICtools and UARTtools. also many thanks to wang ruo xi,he sloved many puzzle of mine. RY. SKYWORKS Embedded Group. 天空工场 嵌入式团队

库文件路径： 把STM32F10x_StdPeriph_Lib_V3.5.0放到如下路径下: D:\stm32lib\stm32f10x\CMSIS D:\stm32lib\stm32f10x\STM32F10x_StdPeriph_Driver

图片：