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flycontrol-stc80c51's Introduction

四轴飞行器

  • 四轴复合版，大四轴 & 小四轴
  • 时间：2015-8-19
  • 作者: JIN Kai & JIANGH He-jun
  • 算法：PID(内环PID, 外环PI) + 四元数解算 + 互补滤波

程序架构方面

  • 实现一键切换大小四轴
  • 实现将需要修改的参数定位到同一个文件
  • 实现参数关联修改(修改主频的同时将所有参数自动修改)

PWM电机驱动

  • 动态大四轴PWM调节(自动进入正常模式)
  • 动态小四轴PWM初始化计数初值

飞机保护程序

  • 实现飞行器失联保护
  • 实现飞行器一键刹车

通讯程序

  • 实现无线通信的伪双工通讯(兼容单工)
  • 实现uart串口的读写
  • 定时器t0初始化过程消除uart串口中断

飞控算法调整

  • 对Speed的取值进行估计
  • 重新调整了大小四轴的PID
  • 将飞行器飞行方式由十字型转换为X型

飞机调试模块

  • 增加matlab对MPU6050的曲线实时显示

遥控器模块

  • 对遥控器程序进行了重构
  • 解决遥控器控制不灵敏的问题(非线性函数)
  • 遥控器部分实现了方向微调
  • 实现LCD显示飞行器数据(PWM,MPU6050)
  • 增加LCD大小四轴遥控器方式选择启动(Important)
  • 增加LCD对油门杆误拉高启动的提醒

辅助MCU模块(超声波程序, 灯光等)

  • 增加超声波测高传感器
  • 对超声波测距数据增加卡尔曼滤波

陀螺仪校准方面

  • 对陀螺仪进行校准
  • 对加速度计进行了初始化过程的自校准
  • 增加了卡尔曼滤波函数(针对加速度计)

待实现

  • 实现另一个MPU的传感器GPS/温度/灯光等
  • 实现定高算法

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