INS / GPS strapdown navigation solution algorithm Advanced PID Flight Control Technology 7 flight mode DZY-02 Autopilot Embedded ARM9 + FPGA platform, powerful capability of processing and extensionCPU frequency is nearly 200M, 32-bit, 64M RAM, 512K flash, expanding application of the four UART ports, two SPI ports, one I2C port, 9 channel of PWM input, output, 24-bit high precision AD and so ...