中文说明：资源描述该控制算法将四旋翼飞行器控制分为内环姿态控制和外环位置控制，采用PID控制算法对其控制，最终实现四旋翼飞行器稳定飞行。
English Description：
Application backgroundThe control algorithm divides the four rotor aircraft control into the inner loop attitude control and the outer loop position control, and uses the PID control algorithm to control the rotor aircraft, and finally achieve the stable flight of the four rotor aircraft.