四周飞行器控制原理代码。，参考Atmel 的TWI 例子修改的，执行的功能包括BootLoader 签名验证，上传代码的CRC16 校验验证，跳转到用户区等功能-Four weeks aircraft control theory code. Reference to examples of Atmel TWI modify, perform the functions including BootLoader signature verification, upload code CRC1