A four-axis aircraft control system based on STM32F103RC microcontroller is designed.The system consists of a core control module,an attitude sensor module,an ultrasonic module,a camera module,and the like.The attitude data detected by the attitude sensor module,the ultrasonic module,and the camera module are filtered and converted into quaternions,and the quaternion is used.It is transmitted to the PID controller in the core control module through the serial port,and finally the PWM wave is output to the drive module.The system has the functions of one-button fixed takeoff,tracking,obstacle a...
