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!