1.机架是上一届准备国赛前买的，电机是空心杯（2000转/min） ，电池是11.1V的航模电池

2.采用2块msp430f149最小系统做飞控板，一块用来姿态控制，一块用来完成题目要求，两者之间通过串口通信

3.陀螺仪用的是MPU9150（九轴），自带有地磁传感器，不需要再加地磁传感器

4.数据融合是靠MPU9150的内部DMP处理输出（该部分程序时移植32单片机的，针对430的时钟频率对该部分程序做了一些调整）

5.姿态控制算法是PID-1 rack is the last before the country ready to buy, the motor is a hollow cup (2000 rpm/min), the model aircraft battery is 11.1V battery

2 uses two msp430f149 minimum system do fly control panels, for attitude control of a piece of used to complete the questions asked, through serial communication between the two

3 gyroscope using MPU9150 (nine-axis), comes with a geomagnetic sensor, no plus geomagnetic sensor

4 Data fusion is the process by internal DMP output MPU9150 the (transplant when the part of the program 32 microcontroller, the clock frequency for the section 430 program made ​ ​ some adjustments)

5. attitude PID control algorithm is