最近在搞四轴，搜了一些资料，跟大家分享下。开源分享飞猪源程序，设计资料仅供参考！
Altium Designer画的原理图和PCB图如下：(51hei附件中可下载工程文件)
遥控器部分：
mini四轴飞行器的STM32单片机源程序如下:
- #include "control.h"
- #include "BSP.H"
- #include "rc.h"
- #include "imu.h"
- #include "uart1.h"
- PID PID_ROL,PID_PIT,PID_YAW;
- u8 ARMED = 0;
- extern vs16 QH,ZY,XZ;
- float Get_MxMi(float num,float max,float min)
- {
- if(num>max)
- return max;
- else if(num<min)
- return min;
- else
- return num;
- }
- void CONTROL(float rol_now, float pit_now, float yaw_now, float rol_tar, float pit_tar, float yaw_tar)
- { //当前姿态角，，，目标姿态角
- u16 moto1=0,moto2=0,moto3=0,moto4=0;
- vs16 throttle;
- // u8 moto[8];
-
- float rol = rol_tar + rol_now;
- float pit = pit_tar + pit_now;
- float yaw = yaw_tar + yaw_now;
-
- throttle = Rc_Get.THROTTLE - 1000; //1000<遥控油门值<2000
- if(throttle<0) throttle=0;
-
- PID_ROL.IMAX = throttle/10; //积分限幅，积分值不超过当前油门值的一半
- PID_ROL.IMAX = Get_MxMi(PID_ROL.IMAX,1000,0); //限制积分结果为，0到1000
- PID_PIT.IMAX = PID_ROL.IMAX;
-
- PID_ROL.pout = PID_ROL.P * rol;
- PID_PIT.pout = PID_PIT.P * pit;
- //////////////////、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、
- /////////////0.1 0.1 30 30
- if(rol_tar*rol_tar<1 && pit_tar*pit_tar<1 && rol_now*rol_now<100 && pit_now*pit_now<100 && throttle>300)
- { //防止角度大了，积分超调//目标姿态角水平，姿态角几乎水平，油门值不太低
- PID_ROL.iout += PID_ROL.I * rol;
- PID_PIT.iout += PID_PIT.I * pit;
- PID_ROL.iout = Get_MxMi(PID_ROL.iout,PID_ROL.IMAX,-PID_ROL.IMAX); //对输出的积分限幅
- PID_PIT.iout = Get_MxMi(PID_PIT.iout,PID_PIT.IMAX,-PID_PIT.IMAX);
- }
- else if(throttle<200)
- { //油门值较小时，积分项清零
- PID_ROL.iout = 0;
- PID_PIT.iout = 0;
- }
- //////////////////、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、
- // rc_roll_d = rol_tar - getlast_roll;
- // getlast_roll = rol_tar;
- // PID_ROL.dout = PID_ROL.D * (MPU6050_GYRO_LAST.X+rc_roll_d*300);//角速度+控制误差微分
- //
- // rc_pitch_d = pit_tar - getlast_pitch;
- // getlast_pitch = pit_tar;
- // PID_PIT.dout = PID_PIT.D * (MPU6050_GYRO_LAST.Y+rc_pitch_d*300);//角速度+控制误差微分
-
- PID_ROL.dout = PID_ROL.D * MPU6050_GYRO_LAST.X;
- PID_PIT.dout = PID_PIT.D * MPU6050_GYRO_LAST.Y;
- /////////////////////////////////////////////////////////////////////
- PID_YAW.pout = PID_YAW.P * yaw;
- //若 *yaw_now；锁尾模式！！！！
- //若 *yaw； 非锁尾模式！！！！
- /////////////////////////////////////////////////////////////////////
- vs16 yaw_d;
- /////////////////////////////////////////////////////////////////////
- if(1480>Rc_Get.YAW || Rc_Get.YAW>1520) //给遥控加死区（偏航角的死区）
- {
- yaw_d = MPU6050_GYRO_LAST.Z + (Rc_Get.YAW-1500)*10; //用Z轴角速度及目标偏航角值进行四轴运动的预判
- GYRO_I.Z = 0;
- }
- else
- yaw_d = MPU6050_GYRO_LAST.Z;
-
- PID_YAW.dout = PID_YAW.D * yaw_d;
- /////////////////////////////////////////////////////////////////////
- PID_ROL.OUT = PID_ROL.pout + PID_ROL.iout + PID_ROL.dout;
- PID_PIT.OUT = PID_PIT.pout + PID_PIT.iout + PID_PIT.dout;
- PID_YAW.OUT = PID_YAW.pout + PID_YAW.iout + PID_YAW.dout;
-
- if(throttle>200) //油门值大于200才起飞 （遥控油门值大于1200）
- {
- // moto1 = throttle - PID_ROL.OUT - PID_PIT.OUT + PID_YAW.OUT;
- // moto2 = throttle - PID_ROL.OUT + PID_PIT.OUT - PID_YAW.OUT;
- // moto3 = throttle + PID_ROL.OUT - PID_PIT.OUT - PID_YAW.OUT;
- // moto4 = throttle + PID_ROL.OUT + PID_PIT.OUT + PID_YAW.OUT;
- // moto4 = throttle - PID_ROL.OUT - PID_PIT.OUT + PID_YAW.OUT;
- // moto3 = throttle - PID_ROL.OUT + PID_PIT.OUT - PID_YAW.OUT;
- // moto2 = throttle + PID_ROL.OUT - PID_PIT.OUT - PID_YAW.OUT;
- // moto1 = throttle + PID_ROL.OUT + PID_PIT.OUT + PID_YAW.OUT;
-
-
- // moto1 = throttle - 25 + QH + ZY - XZ - PID_ROL.OUT - PID_PIT.OUT + PID_YAW.OUT;
- // moto2 = throttle - 25 + QH - ZY + XZ - PID_ROL.OUT + PID_PIT.OUT - PID_YAW.OUT;
- // moto3 = throttle - 25 - QH + ZY + XZ + PID_ROL.OUT - PID_PIT.OUT - PID_YAW.OUT;
- // moto4 = throttle + 75 - QH - ZY - XZ + PID_ROL.OUT + PID_PIT.OUT + PID_YAW.OUT;
-
- moto4 = throttle + QH + ZY - XZ - PID_ROL.OUT - PID_PIT.OUT + PID_YAW.OUT;
- moto3 = throttle + QH - ZY + XZ - PID_ROL.OUT + PID_PIT.OUT - PID_YAW.OUT;
- moto2 = throttle - QH + ZY + XZ + PID_ROL.OUT - PID_PIT.OUT - PID_YAW.OUT;
- moto1 = throttle - QH - ZY - XZ + PID_ROL.OUT + PID_PIT.OUT + PID_YAW.OUT;
-
- // moto1 = throttle;
- // moto2 = throttle;
- // moto3 = throttle;
- // moto4 = throttle;
- }
- else
- {
- moto1 = 0;
- moto2 = 0;
- moto3 = 0;
- moto4 = 0;
- ……………………
- …………限于本文篇幅 余下代码请从51黑下载附件…………
所有资料51hei提供下载:
mini四轴飞行器、遥控器电路原理图、PCB、源程序.zip
(11.03 MB, 下载次数: 921)
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