声明：楼主是四轴飞行器的爱好者（废话，不喜欢会做这个！！？）以前学习过相关方面的知识，不过开始的时候没有太多资金，而且无刷电机很危险，所以先从小四轴开始玩起，经过一年的努力四轴终于可以比较稳定的飞行了（程序参考了匿名和蜂鸟四轴，感谢他们的无私奉献）
做的时候发很多人都在抱怨四轴参数难调，刚开始我也使用的是常见的pid控制，发现对参数确实十分敏感，很难达到稳定的效果，甚至直接使用陀螺仪的数据进行角速率反馈得到的效果都比它好。
通过查阅资料我发现四轴一般会被简化为一个低阻尼的二阶系统，角速率反馈恰恰可以增加它的阻尼（这个在二代的战斗机比如歼7中广泛采用，是改善阻尼的好方法）。于是我就是用了在固定翼飞机上常常采用的串级pid来调试，经过师兄理论上的指点，四轴已经可以比较稳定的飞行。
这个算法有固定翼的控制，和四轴控制原理相同。 首先使用角速率反馈作为内环，在用角度反馈作为外环，只要内环的参数调整合适，外环的参数从个位数变成六七十，四轴都可以稳定的飞行。
参数调节：
还有代码分享：
- void GET_EXPRAD(void)
- {
- EXP_ANGLE.X = (float)(-(Rc_Get.ROLL-1500)/30.0f);
- EXP_ANGLE.Y = (float)(-(Rc_Get.PITCH-1500)/30.0f);
- EXP_ANGLE.Z = (float)(Rc_Get.YAW);
- // printf("%f %f",MPU6050_ACC_LAST.Y*cos(Q_ANGLE.X/57.3)-MPU6050_ACC_LAST.Z*sin(Q_ANGLE.X/57.3),MPU6050_ACC_LAST.X*cos(-Q_ANGLE.Y/57.3)-MPU6050_ACC_LAST.Z*sin(-Q_ANGLE.Y/57.3));
- // DIF_ANGLE.X = (ACC_AVG.Y*cos(Q_ANGLE.X/57.3)-ACC_AVG.Z*sin(Q_ANGLE.X/57.3))/500;
- // DIF_ANGLE.Y = (ACC_AVG.X*cos(-Q_ANGLE.Y/57.3)-ACC_AVG.Z*sin(-Q_ANGLE.Y/57.3)/500);
- DIF_ANGLE.X = EXP_ANGLE.X - Q_ANGLE.X;
- DIF_ANGLE.Y = EXP_ANGLE.Y - Q_ANGLE.Y;
- // DIF_ANGLE.Z = EXP_ANGLE.Z - GYRO_I[0].Z;
- // DIF_ANGLE.X = EXP_ANGLE.X - GYRO_I[0].X;
- // DIF_ANGLE.Y = EXP_ANGLE.Y - GYRO_I[0].Y;
- // DIF_ANGLE.Z = EXP_ANGLE.Z - GYRO_I[0].Z;
- }
- void CONTROL(void)
- {
- static float thr=0,rool=0,pitch=0,yaw=0;
- static float rool_i=0,pitch_i=0;
- static float rool_dif=0,pitch_dif=0;
- static float rool_speed_dif=0,pitch_speed_dif=0;
- float rool_out,pitch_out;
- uint16_t THROTTLE;
- GET_EXPRAD();
-
- rool = PID_ROL.P * DIF_ANGLE.X;
- rool_i += PID_ROL.I * DIF_ANGLE.X * 0.002;
- rool_i = between(rool_i,30,-30);
- rool += rool_i;
- rool += PID_ROL.D * (DIF_ANGLE.X-rool_dif) * 500;
- rool_dif = DIF_ANGLE.X;
- ///////////
- pitch = +PID_ROL.P * DIF_ANGLE.Y;
- pitch_i += PID_ROL.I * DIF_ANGLE.Y * 0.002;
- pitch_i = between(pitch,30,-30);
- pitch += pitch_i;
- pitch += PID_ROL.D * (DIF_ANGLE.Y-pitch_dif) * 500;
- pitch_dif = DIF_ANGLE.Y;
- ///////////
- //
- rool -= GYRO_AVG.X* Gyro_G;
- rool_out=PID_PIT.P*rool;
- rool_out += PID_PIT.D*(rool- rool_speed_dif)*500;
- rool_speed_dif = rool;
-
- pitch -= GYRO_AVG.Y* Gyro_G;
- pitch_out=PID_PIT.P*pitch;
- pitch_out += PID_PIT.D*(pitch- pitch_speed_dif)*500;
- pitch_speed_dif=pitch;
- // rool=PID_PIT.I*(rool-GYRO_AVG.X* Gyro_G);
- // pitch=PID_PIT.I*(pitch-GYRO_AVG.Y* Gyro_G);
-
- // PID_YAW.dout = 20 * (MPU6050_GYRO_LAST.Z* Gyro_G-(Rc_Get.YAW-1500)/10);
- PID_YAW.dout = 10 * (GYRO_AVG.Z* Gyro_G-(Rc_Get.YAW-1500)/10);
- PID_ROL.OUT = rool_out;
- PID_PIT.OUT = pitch_out;
- PID_YAW.OUT = PID_YAW.dout;
-
- /////////////
- // GYRO_I[0].Z += EXP_ANGLE.Z/3000;
- // yaw = -10 * GYRO_I[0].Z;
- //
- // yaw -= 3 * GYRO_F.Z;
- THROTTLE=Rc_Get.THROTTLE;
- if(THROTTLE>1050)
- {
- // if(THROTTLE>1950)
- // {
- // THROTTLE=1950;
- // }
- THROTTLE = THROTTLE/cos(Q_ANGLE.X/57.3)/cos(Q_ANGLE.Y/57.3);
-
- moto1 = THROTTLE - 1000 + (int16_t)PID_ROL.OUT - (int16_t)PID_PIT.OUT - (int16_t)PID_YAW.OUT;
- moto2 = THROTTLE - 1000 + (int16_t)PID_ROL.OUT + (int16_t)PID_PIT.OUT + (int16_t)PID_YAW.OUT;
- moto3 = THROTTLE - 1000 - (int16_t)PID_ROL.OUT + (int16_t)PID_PIT.OUT - (int16_t)PID_YAW.OUT;
- moto4 = THROTTLE - 1000 - (int16_t)PID_ROL.OUT - (int16_t)PID_PIT.OUT + (int16_t)PID_YAW.OUT;
- }
- else
- {
- moto1 = 0;
- moto2 = 0;
- moto3 = 0;
- moto4 = 0;
- }
- if(Q_ANGLE.X>45||Q_ANGLE.Y>45||Q_ANGLE.X<-45||Q_ANGLE.Y<-45)
- {
- ARMED=0;
- LED3_OFF;
- }
- // printf("moto=%d %d %d %d",moto1,moto2,moto3,moto4);
- if(ARMED) MOTO_PWMRFLASH(moto1,moto2,moto3,moto4);
- else MOTO_PWMRFLASH(0,0,0,0);
- }
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