STM32 quadcopter

Hardware:
    Core cup: 8520, shaft diameter must correspond to the propeller (mine is 1mm).
    Propeller: Mine is 60mm in diameter and 1mm in inner diameter.
Problems encountered during the design: 1. Unsuccessful 3.7V to 5V conversion; 2. Failed to fly.
    Regarding the first problem: I finally fixed it by changing the chip to MT3608 (it may also be due to the initial battery being incorrect).
    Regarding the second problem: I didn't buy a flight controller-specific battery, but a regular 3.7V battery. Regular 3.7V batteries have a power protection circuit, so my quadcopter initially wouldn't fly, even with the 8520 core cup. Later, removing the protection circuit chip from the battery solved the problem.
Regarding this version's issues: (This version can fly, but I don't know how to use flight controllers, and the balance isn't adjusted properly)
    1. MPU6050 is difficult to solder; it is recommended to replace it with an MPU6050 module.
    2. In the drive motor circuit, SS24 can be replaced with SS34 or a 100nF capacitor. Initially, I couldn't get it to fly, so I replaced the capacitor with a diode to enhance the driving capability. My AO3400 is also 30V 5.7A, but a transistor of around 3A is sufficient.
   3. Pay attention to the wing fixation; my wing would fall off after flying for a long time.
 
The code only allows it to fly remotely, it cannot maintain balance.
STM32 remote controller: https://oshwhub.com/ming444/32-yao-kong