Research on Four Axis Aircraft Based on STM32
Jie Su, Jijun Zheng, Zhenhai Jiang, Shaoshuai Liu · 2021 6th International Conference on Smart Grid and Electrical Automation (ICSGEA) · 2021
Four axis aircraft is a new type of unmanned aerial vehicle. Different from the traditional single axis aircraft, four propellers can reverse the anti-torque torque of each other without the need for the anti-torque, so its structure is more compact and its lift is greater. In order to control the flight attitude of the four axis aircraft effectively, this paper uses STM32 as the main controller, carries MPU6050 inertial measurement unit with three axis accelerometer and three axis gyroscope integration as the attitude Euler angle measurement unit, further uses the extended Kalman filter algorithm to calculate the attitude of the four axis aircraft accurately, and uses PID algorithm to realize the attitude control of the aircraft. Finally, the smooth flight of the aircraft is realized with multiple system tests and debugging.