STM32F407VG Microprocessor Based Flight Controller Design Experimented on a Quadrotor

摘要

The paper presents STM32F407VG microprocessor based flight controller design experimented on a quadrotor. Flight controller which can control the quadrotor both manually and autonomously, is realized by integrating STM32F407VG microprocessor with selected gyroscope, accelerometer, magnetometer, barometer and GPS sensors. It has manual control, autonomous flight, altitude control, course lock and telemetry capabilities. Flight control software is written in C programming language from scratch with licensed software program of microprocessor without any external libraries. Kalman Filter, butterworth filter and moving average filter are used for sensor data processing. Control system is built by Proportional Integral Derivative (PID) controller that includes inner loop for attitude control and outer loop for position control. Finally, flight tests are performed to verify designed flight controller performance which indicates that the UAV can fly steadily with acceptable precision.