VTOL airplane DualCopter Tailsitter Hovering

Board : ardoino Nano
Gyro : Mou6050
Moter : 2816 2EA
Prop : 7 * 38 2EA
Esc : 30A
Battery : Lipo 2200mAh 3C
I flew to the program I made.
Download source from here
http://blog.naver.com/alttul/220914207384