fly's Introduction

BJUT-嵌入式课程设计-Fly

基于Arduino 101的四轴飞行器

硬件支持

HMC5833L电子罗盘
NEO-6m GPS模块
SR-04超声波模块
支持BLE低功耗蓝牙

软件支持

安卓遥控器应用，可以通过BLE低功耗蓝牙发送指令

参考了MultiWii飞控的设计**，但是并不想支持不同型号传感器、单片机，只是做个最简单的飞控；

最终试验起飞未成功，实现了BLE蓝牙遥控，实现了电机的速度控制，设置目标Yaw，Pitch、Roll角度，四个电机的速度会有对应的变化；但PID算法实现还存在一些问题，不及时的速度反馈；另外电机PWM控制还存在问题，有时会存在电机不同时启动的情况，在此求教电机的PWM控制；

----------一个未完成Arduino 101飞控---------

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