实例介绍
【实例简介】
基于STM32F103C8T6的四轴飞行器飞控源码，采用MPU6050加速度计陀螺仪，滑动平均滤波，采用四元数姿态解算，欧拉角计算，两级PID进行控制，角速度环加角度环控制，实现四轴飞行器平稳飞行，程序通俗易懂，希望帮助大家学习~
【实例截图】
【核心代码】
飞控基本版
`-- 飞控基本版
|-- CORE
| |-- core_cm3.c
| |-- core_cm3.h
| `-- startup_stm32f10x_md.s
|-- FWLIB
| |-- inc
| | |-- misc.h
| | |-- stm32f10x_adc.h
| | |-- stm32f10x_bkp.h
| | |-- stm32f10x_can.h
| | |-- stm32f10x_cec.h
| | |-- stm32f10x_conf.h
| | |-- stm32f10x_crc.h
| | |-- stm32f10x_dac.h
| | |-- stm32f10x_dbgmcu.h
| | |-- stm32f10x_dma.h
| | |-- stm32f10x_exti.h
| | |-- stm32f10x_flash.h
| | |-- stm32f10x_fsmc.h
| | |-- stm32f10x_gpio.h
| | |-- stm32f10x_i2c.h
| | |-- stm32f10x_iwdg.h
| | |-- stm32f10x_pwr.h
| | |-- stm32f10x_rcc.h
| | |-- stm32f10x_rtc.h
| | |-- stm32f10x_sdio.h
| | |-- stm32f10x_spi.h
| | |-- stm32f10x_tim.h
| | |-- stm32f10x_usart.h
| | `-- stm32f10x_wwdg.h
| `-- src
| |-- misc.c
| |-- stm32f10x_adc.c
| |-- stm32f10x_bkp.c
| |-- stm32f10x_can.c
| |-- stm32f10x_cec.c
| |-- stm32f10x_crc.c
| |-- stm32f10x_dac.c
| |-- stm32f10x_dbgmcu.c
| |-- stm32f10x_dma.c
| |-- stm32f10x_exti.c
| |-- stm32f10x_flash.c
| |-- stm32f10x_fsmc.c
| |-- stm32f10x_gpio.c
| |-- stm32f10x_i2c.c
| |-- stm32f10x_iwdg.c
| |-- stm32f10x_pwr.c
| |-- stm32f10x_rcc.c
| |-- stm32f10x_rtc.c
| |-- stm32f10x_sdio.c
| |-- stm32f10x_spi.c
| |-- stm32f10x_tim.c
| |-- stm32f10x_usart.c
| `-- stm32f10x_wwdg.c
|-- JLinkLog.txt
|-- JLinkSettings.ini
|-- LIST
| |-- main.c
| |-- stm32f10x.h
| |-- stm32f10x_conf.h
| |-- stm32f10x_it.c
| |-- stm32f10x_it.h
| |-- system_stm32f10x.c
| `-- system_stm32f10x.h
|-- Listings
| |-- chengxu.map
| `-- startup_stm32f10x_md.lst
|-- MYLIB
| |-- 74HC595
| | |-- 74HC595.c
| | `-- 74HC595.h
| |-- DMA_ADC
| | |-- ADC.c
| | `-- ADC.h
| |-- IWDG
| | |-- iwdg.c
| | `-- iwdg.h
| |-- Kalman
| | |-- Kalman.c
| | `-- Kalman.h
| |-- LCD1602
| | |-- lcd1602.c
| | `-- lcd1602.h
| |-- LED
| | |-- led.c
| | `-- led.h
| |-- MOTOR
| | |-- motor.c
| | `-- motor.h
| |-- MPU6050
| | |-- MPU6050.c
| | `-- MPU6050.h
| |-- MYIIC
| | |-- myiic.c
| | `-- myiic.h
| |-- MYIMU
| | |-- myimu.c
| | `-- myimu.h
| |-- NRF24L01
| | |-- Nrf24l01.c
| | |-- Nrf24l01.h
| | |-- Spi.c
| | `-- Spi.h
| |-- PID_OWN
| | |-- pid_own.c
| | `-- pid_own.h
| |-- RC
| | |-- rc.c
| | `-- rc.h
| `-- TIME
| |-- time.c
| `-- time.h
|-- MYSYSTEM
| `-- mysystem.h
|-- Objects
| |-- 74hc595.crf
| |-- 74hc595.d
| |-- 74hc595.o
| |-- ExtDll.iex
| |-- adc.crf
| |-- adc.d
| |-- adc.o
| |-- chengxu.axf
| |-- chengxu.build_log.htm
| |-- chengxu.hex
| |-- chengxu.htm
| |-- chengxu.lnp
| |-- chengxu.sct
| |-- chengxu_Target 1.dep
| |-- chengxu_sct.Bak
| |-- core_cm3.crf
| |-- core_cm3.d
| |-- core_cm3.o
| |-- delay.crf
| |-- delay.d
| |-- delay.o
| |-- delay_1.crf
| |-- delay_1.d
| |-- delay_1.o
| |-- iwdg.crf
| |-- iwdg.d
| |-- iwdg.o
| |-- kalman.crf
| |-- kalman.d
| |-- kalman.o
| |-- lcd1602.crf
| |-- lcd1602.d
| |-- lcd1602.o
| |-- led.crf
| |-- led.d
| |-- led.o
| |-- main.crf
| |-- main.d
| |-- main.o
| |-- misc.crf
| |-- misc.d
| |-- misc.o
| |-- motor.crf
| |-- motor.d
| |-- motor.o
| |-- mpu6050.crf
| |-- mpu6050.d
| |-- mpu6050.o
| |-- myiic.crf
| |-- myiic.d
| |-- myiic.o
| |-- myimu.crf
| |-- myimu.d
| |-- myimu.o
| |-- nrf24l01.crf
| |-- nrf24l01.d
| |-- nrf24l01.o
| |-- pid_own.crf
| |-- pid_own.d
| |-- pid_own.o
| |-- rc.crf
| |-- rc.d
| |-- rc.o
| |-- spi.crf
| |-- spi.d
| |-- spi.o
| |-- startup_stm32f10x_md.d
| |-- startup_stm32f10x_md.o
| |-- stm32f10x_adc.crf
| |-- stm32f10x_adc.d
| |-- stm32f10x_adc.o
| |-- stm32f10x_bkp.crf
| |-- stm32f10x_bkp.d
| |-- stm32f10x_bkp.o
| |-- stm32f10x_can.crf
| |-- stm32f10x_can.d
| |-- stm32f10x_can.o
| |-- stm32f10x_cec.crf
| |-- stm32f10x_cec.d
| |-- stm32f10x_cec.o
| |-- stm32f10x_crc.crf
| |-- stm32f10x_crc.d
| |-- stm32f10x_crc.o
| |-- stm32f10x_dac.crf
| |-- stm32f10x_dac.d
| |-- stm32f10x_dac.o
| |-- stm32f10x_dbgmcu.crf
| |-- stm32f10x_dbgmcu.d
| |-- stm32f10x_dbgmcu.o
| |-- stm32f10x_dma.crf
| |-- stm32f10x_dma.d
| |-- stm32f10x_dma.o
| |-- stm32f10x_exti.crf
| |-- stm32f10x_exti.d
| |-- stm32f10x_exti.o
| |-- stm32f10x_flash.crf
| |-- stm32f10x_flash.d
| |-- stm32f10x_flash.o
| |-- stm32f10x_fsmc.crf
| |-- stm32f10x_fsmc.d
| |-- stm32f10x_fsmc.o
| |-- stm32f10x_gpio.crf
| |-- stm32f10x_gpio.d
| |-- stm32f10x_gpio.o
| |-- stm32f10x_i2c.crf
| |-- stm32f10x_i2c.d
| |-- stm32f10x_i2c.o
| |-- stm32f10x_it.crf
| |-- stm32f10x_it.d
| |-- stm32f10x_it.o
| |-- stm32f10x_iwdg.crf
| |-- stm32f10x_iwdg.d
| |-- stm32f10x_iwdg.o
| |-- stm32f10x_pwr.crf
| |-- stm32f10x_pwr.d
| |-- stm32f10x_pwr.o
| |-- stm32f10x_rcc.crf
| |-- stm32f10x_rcc.d
| |-- stm32f10x_rcc.o
| |-- stm32f10x_rtc.crf
| |-- stm32f10x_rtc.d
| |-- stm32f10x_rtc.o
| |-- stm32f10x_sdio.crf
| |-- stm32f10x_sdio.d
| |-- stm32f10x_sdio.o
| |-- stm32f10x_spi.crf
| |-- stm32f10x_spi.d
| |-- stm32f10x_spi.o
| |-- stm32f10x_tim.crf
| |-- stm32f10x_tim.d
| |-- stm32f10x_tim.o
| |-- stm32f10x_usart.crf
| |-- stm32f10x_usart.d
| |-- stm32f10x_usart.o
| |-- stm32f10x_wwdg.crf
| |-- stm32f10x_wwdg.d
| |-- stm32f10x_wwdg.o
| |-- sys.crf
| |-- sys.d
| |-- sys.o
| |-- system_stm32f10x.crf
| |-- system_stm32f10x.d
| |-- system_stm32f10x.o
| |-- time.crf
| |-- time.d
| |-- time.o
| |-- usart.crf
| |-- usart.d
| `-- usart.o
|-- SYSTEM
| |-- delay
| | |-- delay.c
| | `-- delay.h
| |-- sys
| | |-- sys.c
| | `-- sys.h
| `-- usart
| |-- usart.c
| `-- usart.h
|-- chengxu.build_log.htm
|-- chengxu.uvguix.LinShuai
|-- chengxu.uvoptx
`-- chengxu.uvprojx
28 directories, 251 files
基于STM32F103C8T6的四轴飞行器飞控源码，采用MPU6050加速度计陀螺仪，滑动平均滤波，采用四元数姿态解算，欧拉角计算，两级PID进行控制，角速度环加角度环控制，实现四轴飞行器平稳飞行，程序通俗易懂，希望帮助大家学习~
【实例截图】
【核心代码】
飞控基本版
`-- 飞控基本版
|-- CORE
| |-- core_cm3.c
| |-- core_cm3.h
| `-- startup_stm32f10x_md.s
|-- FWLIB
| |-- inc
| | |-- misc.h
| | |-- stm32f10x_adc.h
| | |-- stm32f10x_bkp.h
| | |-- stm32f10x_can.h
| | |-- stm32f10x_cec.h
| | |-- stm32f10x_conf.h
| | |-- stm32f10x_crc.h
| | |-- stm32f10x_dac.h
| | |-- stm32f10x_dbgmcu.h
| | |-- stm32f10x_dma.h
| | |-- stm32f10x_exti.h
| | |-- stm32f10x_flash.h
| | |-- stm32f10x_fsmc.h
| | |-- stm32f10x_gpio.h
| | |-- stm32f10x_i2c.h
| | |-- stm32f10x_iwdg.h
| | |-- stm32f10x_pwr.h
| | |-- stm32f10x_rcc.h
| | |-- stm32f10x_rtc.h
| | |-- stm32f10x_sdio.h
| | |-- stm32f10x_spi.h
| | |-- stm32f10x_tim.h
| | |-- stm32f10x_usart.h
| | `-- stm32f10x_wwdg.h
| `-- src
| |-- misc.c
| |-- stm32f10x_adc.c
| |-- stm32f10x_bkp.c
| |-- stm32f10x_can.c
| |-- stm32f10x_cec.c
| |-- stm32f10x_crc.c
| |-- stm32f10x_dac.c
| |-- stm32f10x_dbgmcu.c
| |-- stm32f10x_dma.c
| |-- stm32f10x_exti.c
| |-- stm32f10x_flash.c
| |-- stm32f10x_fsmc.c
| |-- stm32f10x_gpio.c
| |-- stm32f10x_i2c.c
| |-- stm32f10x_iwdg.c
| |-- stm32f10x_pwr.c
| |-- stm32f10x_rcc.c
| |-- stm32f10x_rtc.c
| |-- stm32f10x_sdio.c
| |-- stm32f10x_spi.c
| |-- stm32f10x_tim.c
| |-- stm32f10x_usart.c
| `-- stm32f10x_wwdg.c
|-- JLinkLog.txt
|-- JLinkSettings.ini
|-- LIST
| |-- main.c
| |-- stm32f10x.h
| |-- stm32f10x_conf.h
| |-- stm32f10x_it.c
| |-- stm32f10x_it.h
| |-- system_stm32f10x.c
| `-- system_stm32f10x.h
|-- Listings
| |-- chengxu.map
| `-- startup_stm32f10x_md.lst
|-- MYLIB
| |-- 74HC595
| | |-- 74HC595.c
| | `-- 74HC595.h
| |-- DMA_ADC
| | |-- ADC.c
| | `-- ADC.h
| |-- IWDG
| | |-- iwdg.c
| | `-- iwdg.h
| |-- Kalman
| | |-- Kalman.c
| | `-- Kalman.h
| |-- LCD1602
| | |-- lcd1602.c
| | `-- lcd1602.h
| |-- LED
| | |-- led.c
| | `-- led.h
| |-- MOTOR
| | |-- motor.c
| | `-- motor.h
| |-- MPU6050
| | |-- MPU6050.c
| | `-- MPU6050.h
| |-- MYIIC
| | |-- myiic.c
| | `-- myiic.h
| |-- MYIMU
| | |-- myimu.c
| | `-- myimu.h
| |-- NRF24L01
| | |-- Nrf24l01.c
| | |-- Nrf24l01.h
| | |-- Spi.c
| | `-- Spi.h
| |-- PID_OWN
| | |-- pid_own.c
| | `-- pid_own.h
| |-- RC
| | |-- rc.c
| | `-- rc.h
| `-- TIME
| |-- time.c
| `-- time.h
|-- MYSYSTEM
| `-- mysystem.h
|-- Objects
| |-- 74hc595.crf
| |-- 74hc595.d
| |-- 74hc595.o
| |-- ExtDll.iex
| |-- adc.crf
| |-- adc.d
| |-- adc.o
| |-- chengxu.axf
| |-- chengxu.build_log.htm
| |-- chengxu.hex
| |-- chengxu.htm
| |-- chengxu.lnp
| |-- chengxu.sct
| |-- chengxu_Target 1.dep
| |-- chengxu_sct.Bak
| |-- core_cm3.crf
| |-- core_cm3.d
| |-- core_cm3.o
| |-- delay.crf
| |-- delay.d
| |-- delay.o
| |-- delay_1.crf
| |-- delay_1.d
| |-- delay_1.o
| |-- iwdg.crf
| |-- iwdg.d
| |-- iwdg.o
| |-- kalman.crf
| |-- kalman.d
| |-- kalman.o
| |-- lcd1602.crf
| |-- lcd1602.d
| |-- lcd1602.o
| |-- led.crf
| |-- led.d
| |-- led.o
| |-- main.crf
| |-- main.d
| |-- main.o
| |-- misc.crf
| |-- misc.d
| |-- misc.o
| |-- motor.crf
| |-- motor.d
| |-- motor.o
| |-- mpu6050.crf
| |-- mpu6050.d
| |-- mpu6050.o
| |-- myiic.crf
| |-- myiic.d
| |-- myiic.o
| |-- myimu.crf
| |-- myimu.d
| |-- myimu.o
| |-- nrf24l01.crf
| |-- nrf24l01.d
| |-- nrf24l01.o
| |-- pid_own.crf
| |-- pid_own.d
| |-- pid_own.o
| |-- rc.crf
| |-- rc.d
| |-- rc.o
| |-- spi.crf
| |-- spi.d
| |-- spi.o
| |-- startup_stm32f10x_md.d
| |-- startup_stm32f10x_md.o
| |-- stm32f10x_adc.crf
| |-- stm32f10x_adc.d
| |-- stm32f10x_adc.o
| |-- stm32f10x_bkp.crf
| |-- stm32f10x_bkp.d
| |-- stm32f10x_bkp.o
| |-- stm32f10x_can.crf
| |-- stm32f10x_can.d
| |-- stm32f10x_can.o
| |-- stm32f10x_cec.crf
| |-- stm32f10x_cec.d
| |-- stm32f10x_cec.o
| |-- stm32f10x_crc.crf
| |-- stm32f10x_crc.d
| |-- stm32f10x_crc.o
| |-- stm32f10x_dac.crf
| |-- stm32f10x_dac.d
| |-- stm32f10x_dac.o
| |-- stm32f10x_dbgmcu.crf
| |-- stm32f10x_dbgmcu.d
| |-- stm32f10x_dbgmcu.o
| |-- stm32f10x_dma.crf
| |-- stm32f10x_dma.d
| |-- stm32f10x_dma.o
| |-- stm32f10x_exti.crf
| |-- stm32f10x_exti.d
| |-- stm32f10x_exti.o
| |-- stm32f10x_flash.crf
| |-- stm32f10x_flash.d
| |-- stm32f10x_flash.o
| |-- stm32f10x_fsmc.crf
| |-- stm32f10x_fsmc.d
| |-- stm32f10x_fsmc.o
| |-- stm32f10x_gpio.crf
| |-- stm32f10x_gpio.d
| |-- stm32f10x_gpio.o
| |-- stm32f10x_i2c.crf
| |-- stm32f10x_i2c.d
| |-- stm32f10x_i2c.o
| |-- stm32f10x_it.crf
| |-- stm32f10x_it.d
| |-- stm32f10x_it.o
| |-- stm32f10x_iwdg.crf
| |-- stm32f10x_iwdg.d
| |-- stm32f10x_iwdg.o
| |-- stm32f10x_pwr.crf
| |-- stm32f10x_pwr.d
| |-- stm32f10x_pwr.o
| |-- stm32f10x_rcc.crf
| |-- stm32f10x_rcc.d
| |-- stm32f10x_rcc.o
| |-- stm32f10x_rtc.crf
| |-- stm32f10x_rtc.d
| |-- stm32f10x_rtc.o
| |-- stm32f10x_sdio.crf
| |-- stm32f10x_sdio.d
| |-- stm32f10x_sdio.o
| |-- stm32f10x_spi.crf
| |-- stm32f10x_spi.d
| |-- stm32f10x_spi.o
| |-- stm32f10x_tim.crf
| |-- stm32f10x_tim.d
| |-- stm32f10x_tim.o
| |-- stm32f10x_usart.crf
| |-- stm32f10x_usart.d
| |-- stm32f10x_usart.o
| |-- stm32f10x_wwdg.crf
| |-- stm32f10x_wwdg.d
| |-- stm32f10x_wwdg.o
| |-- sys.crf
| |-- sys.d
| |-- sys.o
| |-- system_stm32f10x.crf
| |-- system_stm32f10x.d
| |-- system_stm32f10x.o
| |-- time.crf
| |-- time.d
| |-- time.o
| |-- usart.crf
| |-- usart.d
| `-- usart.o
|-- SYSTEM
| |-- delay
| | |-- delay.c
| | `-- delay.h
| |-- sys
| | |-- sys.c
| | `-- sys.h
| `-- usart
| |-- usart.c
| `-- usart.h
|-- chengxu.build_log.htm
|-- chengxu.uvguix.LinShuai
|-- chengxu.uvoptx
`-- chengxu.uvprojx
28 directories, 251 files
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