A four axle aircraft is designed with the open source firmware MWC is used as the flight control board. The MPU6050 gyro sensor and BMP085 pressure sensor are used to acquire the attitude data of aircraft in real time. Combining the Calman filtering and mean filtering. the attitude data is filtered and fused to obtain more accurate attitude information. https://www.bekindtopets.com/deal-find-Torque-Converter-Asymmetric-Belt-for-Coleman-KT196-CK196-Go-Karts-flash-save/