ULN2003驱动28BYJ-48步进电机STM32F103寄存器版. 本实验下载后，电机1先逆时针旋转90度，再顺时针旋转90度。电机2逆时针旋转90度，再顺时针旋转90度。

ArduPilot 中用于EKF2公式推导的参考文档 Rotation Vector in Attitude EstimationPITTELKAU Observe also that although a composition rule ( o 2 for XI. Note that in both approaches the attitude perturbation is defined otation vectors can be written(see Appendix), it