基于IAP15W4K58S4的四轴飞行器的四元数串级PID的接收程序。-Based on the received program axis aircraft IAP15W4K58S4 quaternion Cascade PID.

四轴-四元数 互补滤波 串级PID测试版(Four axis - four - number complementary filter series PID test edition)

四轴飞行器飞控程序，串级PID，外环PI内环PID，四元数互补滤波，辅助三角函数姿态解算。(Four-axis aircraft flight control procedures, Cascade PID, PI outer inner PID, quaternion complementary filter, auxiliary trigonometric attitude solution.)