OpenPilot开源代码，这个文件是其核心，包括飞控和姿态解算，网上也可以找到，但是得费点时间-OpenPilot of open source code, this file is its core, including flight control and attitude solving algorithm, on the net also can be found, but have to take some time

任意阶矩阵计算的C语言实现，来自Vicacopter，传说中的很牛的一个开源飞控项目。-English describe is a troule thing.This is a openpilot source code aimed at computing matrix for any state.

OPENpilot开源飞控源代码，实现飞行控制姿态解算，传感器解算，及遥控遥测。(OPENpilot Open source flight control code)