Design and implementation of four-rotor aircraft based on STM32

Aiming at the problems of the attitude data measurement of the four-rotor flight controller, which is easy to be disturbed, the algorithm is realized and the design is difficult, the four rotor aircraft with the high cost-effective STM32F103VET6 microprocessor as the main control board are designed and realized. Using six-axis motion components MPU6050, electronic compass hmc5883l and barometer MS5611, the spacecraft attitude data were collected in real-time, and the attitude data was fused with Kalman filter method. On the control algorithm, the nonlinear double closed-loop PID is adopted to realize the speed control of the two groups of four motors, and the flight attitude of the four-rotor aircraft is adjusted by remote control. The flight test shows that the four-rotor aircraft based on the STM32F103VET6 microprocessor can realize the control functions of attitude, heading and hover, and achieves the expected goal.



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Design and implementation of four-rotor aircraft based on STM32