Abstract:In order to enhance the control stability and anti-interference ability of quadcopter, this paper presents a quadcopter based on double-layer PID control, and designs a quadcopter with STM32 as the main controller, and simulates and verifies its control system attitude. Firstly, the nonlinear attitude mathematical model of the aircraft is established by the four-element method, and the relationship between the attitude angle and the angular velocity of the aircraft is obtained by solving, so that the measureme… Show more
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