Due32bit_GY521MPU_1_V5

/* Test By tinnakon k project ......

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12/03/2561 write Due32bit_GY521MPU_1_V3 ,,2,3,4,5,6,7,8,9,10,11,

                                           // Roop time 1000Hz,,// Timer3 Interrupt handler
                                          ,velocity GPS Rotated Frame of arm gps
                                          ,Altitude control

16/03/2561 write Due32bit_GY521MPU_1_V4 ,Observer_kalman_filter Z ,, Velocity_THR

26/03/2561 write Due32bit_GY521MPU_1_V5_2

                          ,Observer_kalman_filter X,Y
                          ,RECIEVER CH_AILf, CH_ELEf ,targetRB_speedLAT ,targetRB_speedLON ,,cm/s
                          ,double ,,float Lat,Lon error 9999999.9963922281796504452323604   
                          ,,9999999.9995023947491795059296384
                          ,gain kp GPS ,,yaw_bearing,,k1 kalman Altitude,, uthrottle/cos_rollcos_pitch

support : Arduino 1.5.8 Arduino Due 32 bit , MPU6050 MS5611

• Atmel SAM3X8E ARM Cortex-M3 CPU 32-bit a 84 MHz clock, ARM core microcontroller

• MPU6050 Gyro Accelerometer //I2C 400kHz nois gyro +-0.05 deg/s , acc +-0.04 m/s^2

• MS5611 Barometer//SPI

• HMC5883L Magnetometer //I2C_BYPASS ,I2C 400kHz

• GPS NEO-M8N //

Timer

timer 7 TC2-1 use read ppm

Quad-X

pin 9 FRONTL M1 CW M2 CCW FRONTR pin 8

      pin 9          pin 8
          \         / 
            \ --- /
             |   |
            / --- \
          /         \ 
     pin 6            pin 7

pin 6 motor_BackL M4 CCW M3 CW motor_BackR pin 7

----------rx-----------

A8 = PPM 8 CH

*/