仪用PID参数自整定控制器设计，介绍了一种PID自整定方法-Instrument parameters self-tuning PID controller design, presents a PID tuning method

包括制作平衡车时整理的文档，包括pid、自平衡、四元数的算法。通过MPU6050传感器实现小车平衡，附DMP移植测试的源码。-Including making balance the car arrange documents, including pid, self-balancing, quaternion algorithm. MPU6050 sensor to achieve balance by car, with a test source DMP transplant.