基于STM32无人机的设计与实现

Design and Implementation of UAV Based on STM32

设计选用STM32开发板作为主控模块,主控芯片为STM32F103C8T6,运动处理传感器选用MPU6050,无线通信模块为ESP8266,软件开发选用Keil uVison4集成开发环境。通过STM32的UART2读取WIFI的输入油门和方向值,并将其与陀螺仪计算值进行比较进而对欧拉角度和旋转角速度修正,以得到稳定的飞行姿态。定时器输出四个PMW来控制四轴上的四个电机实现飞行的动作。为了提高运动姿态的精度,该设计将三轴加速度计结合陀螺仪6D0F模块采集的数据与MPU6050采集的数据进行校准,并采用串行PID算法来提高飞行的稳定性。经测试,飞行器能够平稳的起飞、悬停、垂直上升等动作,实现了对飞行器的各种飞行姿态的精确控制。

In this design,STM32 development board is used as the central control module,and it's main control chip is STM32F103C8T6,the motion sensor is MPU6050,the wireless communication module is ESP8266,the software development environment is the Keil uVison4.The throttle and direction value is read by the interface of STM32's UART2,and compared it with the calculated value of gyroscope in euler angle and the rotating angular velocity correction,in order to get stable flight attitude.Timer output four PMW to control 4 motor on the four-axis to implement flight movements.In order to improve the accuracy of motion,this design combines three-axis accelerometer gyroscope 6D0F module data calibration with MPU6050 acquisition of data,and adopt the serial PID algorithm to improve the stability of the flight.After the test,the aircraft can smooth take-off,hover,vertical rise and so on,it implements all kinds of precise control of flight attitude of spacecraft.