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四轴飞行器

于 2022-03-10 发布 文件大小:3.76 MB
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代码说明:

处理器使用STM32F103ZET6芯片,传感器使用MPU6050,使用IIC总线与处理器连接.遥控接收使用NRF24L01无线芯片,通过SPI与STM32连接。STM32F103处理器主要负责通过IIC读取MPU6050的FIFO中的传感器原始数据,将原始数据融合,四元数姿态解算算法,以及滤波处理得到精准数据,再进行串级PID控制算法得到电机的控制量。同时STM32也进行NRF24L01遥控信号的接收和发送数据的处理。

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