基于STM32的集成化复合式无人机飞控系统设计

Research of Integrated UAV Flight Control System Based on STM32

摘要: 本文以APM、PixHawk等开源飞控板为参考，重新设计开发了更高性能的复合式无人机飞行控制系统。在硬件方面，采用以Cortex-M4为内核的STM32F407高性能芯片作为主芯片，以升级APM的8位双处理器芯片，把MPU6050、MS5611、HMC5883L等芯片集成化为一体，并将PCA9685芯片引入飞控系统，使飞控同时能输出10路PWM波，提高飞控的驱动能力。采用双陀螺仪结构，增加飞控的可靠性。在软件方面，对各传感器底层驱动进行重新封装，使代码更加便于维护升级，并将此飞控系统应用于复合式无人机的控制。该飞控系统具有性能强、可靠性高、经济性好等优点。

Abstract: Based on APM, PixHawk and other open source flight control boards, this paper redesigned and developed a higher performance composite VTOL flight control system. In terms of hardware, the STM32F407 high-performance chip with Cortex-M4 as the core will be used as the main chip to up-grade the 8-bit dual-processor chip of APM. Integrate MPU6050, MS5611, HMC5883L and other chips into one, and introduce the PCA9685 chip into the flight control system, to make the flight control output 10 PWM wave at the same time, and to improve the driving ability of the flight control. Double gyroscope structure is adopted to increase the reliability of flight control. In terms of software, the underlying driver of each sensor is repackaged to make the code easier to maintain and upgrade, and the flight control system is applied to the control of compound UAV. The system has the advantages of strong performance, high reliability and good economy.