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软件部分建议参考
http://code.google.com/p/afrodevices/
AfroFlight32
STM32F103-based simple multirotor flight controlle
Introduction
Simple, small, fun flight controller. Several available firmware choices:
MultiWii-dev port to STM32 ("baseflight" in SVN)
Written from scratch "correct" firmware using various attitude estimators, Kalman filtering, etc ("baseflightplus" in SVN)
Chinese 'FreeFlight' firmware. Autolevel/gyro, limited functionality. Supported on rev0 to rev3 hardware. Not supported on rev4 hardware.
Hardware
36x36mm 2 layer pcb, 30.5mm mounting pattern
STM32F103CxT6 CPU (32bit ARM Cortex M3, 72MHz, 64K/128K flash. Pin compatible with upcoming STM32F3 Cortex M4)
Invensense MPU3050 3-axis gyro (rev0 to rev3)
Invensense MPU6050 3-axis gyro (rev4)
Analog ADXL345 digital accelerometer (rev0 to rev3, removed in rev4)
FreeScale MMA8452Q digital accelerometer (rev3 to rev4)
Honeywell HMC5883L digital compass
Bosch-Sensortec BMP085 pressure sensor (rev0 to rev3, removed in rev4)
MEAS-SPEC MS5611-01BA03 pressure sensor (rev4)
6 + 8 PWM I/O can remap as input or output for RC/CPPM/Motors/Servos
second UART accessible for Spektrum Satellite RX or GPS
CPPM (up to 12 channels) RC input
8 channel standard PWM RC input
PWM (50..1kHz) motor output for up to 6 motors, can be remapped with other pins for 8 motors + camera stabilization
Onboard USB connector for telemetry and firmware update
Battery voltage monitoring and low-voltage alarm
Buzzer for alarm/user notification
Status LEDs |
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