| Micro/mini unmanned aerial vehicle is playing an increasingly important role in the development of the modern military and the national economy. The flight controller serves as the core of the UAV, which can automatically collect the flight parameters of the UAV and outputs instructions to control the flight attitude and path of the UAV. The flight controller enables the UAV to implement autonomous flight without manual manipulation, and to complete the pre-designed tasks. Therefore, it is important to develop a high-performance flight controller to improve the flight performance of the UAV as well as to improve the efficiency of task completion.A General Micro Flight Controller, which can be used on mini/micro fixed-wing aircraft, rotary-wing aircraft airship and mobile robot, is presented in this thesis. The design and implement of the hardware and software is the major parts of this thesis. The main work of this paper is as follows:1) This paper introduces the research background and the significance of the subject, and points out the actuality as well as the development direction of the Micro flight controller at home and abroad. The conceptual design of the whole embedded micro flight controller is introduced according to the requirements and the design specifications, which aim to design a general, micro, low power consumption controller with high performance.2) The hardware of the General Micro Flight Controller (GMFC) is designed based on the ARM (Advanced RISC Machines). The functional modules include the main control module, inertial measurement unit (IMU), static pressure altimeter, remote control receiving unit, data transmission module, power supporting module, and the additional sensor module. The entire controller PCB production and the debugging of the hardware are accomplished. It turns out that the system can function normally.3) The attitude reference system based on kalman filter algorithm is designed, and it's static and dynamic performance is tested.4) The body of the quadrotor is designed, and its dynamic model is established.5) Base on this, each module's software of the controller and the quadrotor's flight control law in the laboratory debugging state is designed. At last, physical experiment for the quadrotor is carried through. |
