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针对现有四旋翼无人飞行器控制系统存在鲁棒性差、姿态角度解算精度不高、控制精度低等问题。本文从工程实际出发,设计并实现了一种基于STM32的微型飞行控制器。该控制器采用模块化方法设计,包括主控、惯性测量、执行驱动等模块。设计出一种飞行姿态解算方法,提高了姿态角解算的精度和实时性实现了对四旋翼飞行器起降和飞行的可靠控制
In view of the existing quadrotor UAV control system has poor robustness, attitude angle calculation accuracy is not high, the control accuracy is low and so on. Based on engineering practice, this paper designs and implements a STM32-based miniature flight controller. The controller uses a modular approach to design, including master, inertial measurement, implementation of the drive and other modules. A method to solve the flight attitude is designed to improve the accuracy and real-time performance of the attitude angle calculation, which realizes the reliable control of the takeoff and landing and flight of the quadrotor