Four axis open source program, you can learn four axis friends to provide some information

bee_source
bee_source\ANO_FLY.uvgui.Administrator
bee_source\ANO_FLY.uvgui.JZP
bee_source\ANO_FLY.uvgui.LG
bee_source\ANO_FLY.uvgui.SHAO
bee_source\ANO_FLY.uvgui_Administrator.bak
bee_source\ANO_FLY.uvgui_JZP.bak
bee_source\ANO_FLY.uvgui_LG.bak
bee_source\ANO_FLY.uvgui_SHAO.bak
bee_source\ANO_FLY.uvopt
bee_source\ANO_FLY.uvproj
bee_source\ANO_FLY_ANO_FLY.dep
bee_source\ANO_FLY_uvopt.bak
bee_source\ANO_FLY_uvproj.bak
bee_source\APP
bee_source\APP\CONTROL
bee_source\APP\CONTROL\Control.c
bee_source\APP\CONTROL\control.h
bee_source\APP\IMU
bee_source\APP\IMU\IMU.c
bee_source\APP\IMU\IMU.h
bee_source\APP\RC
bee_source\APP\RC\Rc.c
bee_source\APP\RC\Rc.h
bee_source\APP\SYS
bee_source\APP\SYS\main.c
bee_source\APP\SYS\stm32f10x_it.c
bee_source\APP\SYS\stm32f10x_it.h
bee_source\APP\UART
bee_source\APP\UART\Uart1.c
bee_source\APP\UART\Uart1.h
bee_source\BSP
bee_source\BSP\ANO_Tech_STM32F10x_I2C.h
bee_source\BSP\ANO_Tech_STM32F10x_I2C.lib
bee_source\BSP\BSP.c
bee_source\BSP\BSP.H
bee_source\BSP\eeprom.c
bee_source\BSP\eeprom.h
bee_source\BSP\Led.c
bee_source\BSP\Led.h
bee_source\BSP\Moto.c
bee_source\BSP\moto.h
bee_source\BSP\MPU6050.c
bee_source\BSP\MPU6050.h
bee_source\BSP\Nrf24l01.C
bee_source\BSP\Nrf24l01.h
bee_source\BSP\Spi.c
bee_source\BSP\spi.h
bee_source\BSP\Tim.c
bee_source\BSP\Tim.h
bee_source\BSP\Usart.c
bee_source\BSP\Usart.h
bee_source\JLinkLog.txt
bee_source\JLinkSettings.ini
bee_source\LIB
bee_source\LIB\core_cm3.c
bee_source\LIB\core_cm3.h
bee_source\LIB\misc.c
bee_source\LIB\misc.h
bee_source\LIB\startup_stm32f10x_md.s
bee_source\LIB\stm32f10x.h
bee_source\LIB\stm32f10x_adc.c
bee_source\LIB\stm32f10x_adc.h
bee_source\LIB\stm32f10x_bkp.c
bee_source\LIB\stm32f10x_bkp.h
bee_source\LIB\stm32f10x_can.c
bee_source\LIB\stm32f10x_can.h
bee_source\LIB\stm32f10x_cec.c
bee_source\LIB\stm32f10x_cec.h
bee_source\LIB\stm32f10x_conf.h
bee_source\LIB\stm32f10x_crc.c
bee_source\LIB\stm32f10x_crc.h
bee_source\LIB\stm32f10x_dac.c
bee_source\LIB\stm32f10x_dac.h
bee_source\LIB\stm32f10x_dbgmcu.c
bee_source\LIB\stm32f10x_dbgmcu.h
bee_source\LIB\stm32f10x_dma.c
bee_source\LIB\stm32f10x_dma.h
bee_source\LIB\stm32f10x_exti.c
bee_source\LIB\stm32f10x_exti.h
bee_source\LIB\stm32f10x_flash.c
bee_source\LIB\stm32f10x_flash.h
bee_source\LIB\stm32f10x_fsmc.c
bee_source\LIB\stm32f10x_fsmc.h
bee_source\LIB\stm32f10x_gpio.c
bee_source\LIB\stm32f10x_gpio.h
bee_source\LIB\stm32f10x_i2c.c
bee_source\LIB\stm32f10x_i2c.h
bee_source\LIB\stm32f10x_iwdg.c
bee_source\LIB\stm32f10x_iwdg.h
bee_source\LIB\stm32f10x_pwr.c
bee_source\LIB\stm32f10x_pwr.h
bee_source\LIB\stm32f10x_rcc.c
bee_source\LIB\stm32f10x_rcc.h
bee_source\LIB\stm32f10x_rtc.c
bee_source\LIB\stm32f10x_rtc.h
bee_source\LIB\stm32f10x_sdio.c
bee_source\LIB\stm32f10x_sdio.h
bee_source\LIB\stm32f10x_spi.c
bee_source\LIB\stm32f10x_spi.h

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