1.ADC注意事项
http://www.eeworld.com.cn/mcu/2015/1021/article_23164.html
http://www.stmcu.org/module/forum/thread-600093-1-1.html
2.mpu6050文章
http://www.geek-workshop.com/thread-4623-1-1.html
http://blog.sina.com.cn/s/blog_852d92f80100znnp.html
用陀螺仪传感器获得角度时减小误差的方法:http://bbs.cmnxt.com/thread-10976-1-1.html
内含一个3D动画演示网站:http://www.geek-workshop.com/forum.php?mod=viewthread&tid=1695&reltid=1906&pre_thread_id=3045&pre_pos=2&ext=CB
3.yaw pitch roll
http://www.123kuai.com/index.php?a=show&c=index&catid=9&id=54&m=content
4.HMC5883L地磁
http://blog.exbot.net/archives/1753
5.bitbuket上一个修改工程
https://forum.bitcraze.io/viewtopic.php?f=6&t=475&p=3059&hilit=limitThrust&sid=3f0ded95bb0e866e6c5305c7f253892f#p3059
https://bitbucket.org/danhamilt1/crazyflie-firmware/src/4604159e9c33ad869b4bc241a086e60505b2e30f/?at=stabalizer
6.卡尔曼滤波
http://blog.csdn.net/heyijia0327/article/details/17487467
https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/tree/master/IMU/MPU6050_HMC5883L
http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/
MPU6050 HMC5883 Kalman 融合算法移植
http://www.cnblogs.com/zjutlitao/p/3915786.html
7. power to thrust ()
https://wiki.bitcraze.io/misc:investigations:thrust
https://forum.bitcraze.io/viewtopic.php?f=6&t=475&p=3059&hilit=limitThrust#p3059
https://forum.bitcraze.io/viewtopic.php?f=6&t=2006&p=10203&hilit=thrust+with+yaw+roll+pitch#p10203
8.PID
https://forum.bitcraze.io/viewtopic.php?f=6&t=2006&p=10203&hilit=thrust+with+yaw+roll+pitch#p10203
https://forum.bitcraze.io/viewtopic.php?f=6&t=1978