Constitute a quadrotor has now for all known, the use of four rotor is also widely used, this paper explain the key to the specific design of the four rotor aircraft. The design used to main control chip Cotex-M4 K60, ZigBee wireless communication module, angle sensor, motor drive module and power management module, no brush motor etc., the specific implementation process as the main control chip through the complementary algorithm, Kalman filter algorithm realize the angle calculation and the PID or fuzzy control algorithm in the calculation of the motor output control, and real-time access to the ground station to make, appropriate action.%四旋翼飞行器如今已为众人所熟知,四旋翼的应用也比较广泛,本文重点讲解一下四旋翼飞行器的具体设计方案,本设计使用到主控芯片Cotex-M4 K60,无线通讯模块ZigBee,角度传感器,电机驱动模块,以及电源管理模块,无刷电机等组成,具体实现过程为主控芯片通过互补算法,卡尔曼滤波算法等实现角度计算和通过PID、模糊算法等控制计算电机控制输出,同时实时获取地面站指令,完成相应动作.
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