The program exists in the following files: main.c - System Initialization and main control loop motors.c - methods for controlling Brushless Electronic Speed Controllers offline_kalman.c - methods for precomputing Kalman Gain MPU6050.c - methods for controlling the MPU-6050 from Invensense I2Clib.c - methods for hardware I2C communications

The code attempts to be as easy to port as possible. Platform specific code exists only in: motors.c - timer routines I2Clib.c - Hardware I2C routines main.c - Interrupt Handlers and Configuration, Hardware UART routines