AbFixedWings For Arduino v0.5-Beta
Very Very Very nice update:
Rewrite all the code to graft it into FreeRTOS
Fixed the the servo trembling problem by that
How to compile-Using Arduino IDE 1.x.x on Windows
1.Install Arduino SAM Boards(32-bit ARM Cortex-M3) in tools/boardmanager.Then download https://github.com/rogerclarkmelbourne/Arduino_STM32 zip file and unzip to Your_Doc\Arduino\hardware
2.Add these libraries in Arduino IDE:
Kalman MPU6050
3.Change your settings to support your STM32F103 board.
4.Click Upload button to finish the compile.
5.Connect MPU6050's
VCC to 3V3
GND to GND
SCL to PB6
SDA to PB7
7.Connect
ESC to PB1
Left aileron to PA3
Right aileron to PA1
Rudder to PB0
Elevator to PA6
8.Connect USART1(PA9,PA10) to your Air terminal by CH340/CP2102/UART etc.
9.Good Luck!