Design of Patrol Unmanned Aerial Vehicle Based on MPU9250
Yanfeng Tang, Songbin Lin · IOP Conference Series Earth and Environmental Science · 2021
Abstract To improve the attitude control accuracy of quadcopter UAVs, a patrol UAV with STM32 as the main controller and MPU9250 as the attitude detection module is designed in this paper. For attitude control part, a kind of attitude control algorithm which preprocesses by extended Kalman filter algorithm is designed and then a cascade PID control algorithm is adopted. The test flight results show that the UAV can achieve functions of lifting, rolling, pitching, yawing and hovering.