主控芯片：STM32F031

方案概述

方案简介

四轴飞行器是一种结构新颖、性能卓越的新型无人飞行器，具有广阔的应用前景。Aobell使用STM32F031主控IC加上外围电路，实现了飞行器的前进、后退、左转、右转、上升、下降、翻滚、微调、定高、低压、堵转、高低速、拍照、摄像等功能。

四轴飞行器

四轴飞行器，又称四旋翼飞行器、四旋翼直升机，简称四轴、四旋翼。这四轴飞行器（Quadrotor）是一种多旋翼飞行器。四轴飞行器的四个螺旋桨都是电机直连的简单机构，十字形的布局允许飞行器通过改变电机转速获得旋转机身的力，从而调整自身姿态。具体的技术细节在“基本运动原理”中讲述。[1]  因为它固有的复杂性，历史上从未有大型的商用四轴飞行器。近年来得益于微机电控制技术的发展，稳定的四轴飞行器得到了广泛的关注，应用前景十分可观。国际上比较知名的四轴飞行器公司有中国大疆创新公司、法国Parrot公司、德国AscTec公司和美国3D Robotics公司。

四轴飞行器结构原理

四轴飞行器的结构特性

电机1和电机3逆时针旋转的同时，电机2和电机4顺时针旋转，因此当飞行器平衡飞行时，陀螺效应和空气动力扭矩效应均被抵消。

四轴飞行器是一个在空间具有6个活动自由度（分别沿3个坐标轴作平移和旋转动作），但是只有4个控制自由度（四个电机的转速）的系统，因此被称为欠驱动系统（只有当控制自由度等于活动自由度的时候才是完整驱动系统）。不过对于姿态控制本身（分别沿3个坐标轴作旋转动作），它确实是完整驱动的。

与直升机相比，四轴飞行器可以实现的飞行姿态较少，不过基本的前进、后退、平移等状态都可以实现。但是四轴飞行器的机械结构远远比直升机简单，维修和更换的开销也非常小，这让四轴飞行器有了比直升机更大的应用优势。

自动控制原理

为了保持飞行器的稳定飞行，在四轴飞行器上装有3个方向的陀螺仪和3 轴加速度传感器组成惯性导航模块，可以计算出飞行器此时相对地面的姿态以及加速度、角速度。飞行控制器通过算法计算保持运动状态时所需的旋转力和升力，通过电子调控器来保证电机输出合适的力。

四轴飞行器的发展方向

四轴飞行器作为时下最热门的一种飞行器，已经越来越受到广大科学爱好者和商业公司的关注，从amazon的用四轴飞行器为客户投递包裹的设想就可见一斑。可以说四轴飞行器未来的应用前景十分广阔。

　　这里所说的四轴飞行器不是单指四旋翼，是具有一个以上气动旋转轴的飞行器的俗称。

　　笔者认为四轴飞行器未来发展方向主要有以下几个方面：

　　一是可作为新概念交通工具。

　　早在二战时，载人四轴的原型机已经被设计出来，但因为控制技术还跟不上，飞行器因不稳定而无法投入实际应用。

二是安保领域。

随着人工智能的不断发展，配备高清摄像机、各种安保设备的四轴飞行器将广泛应用在公安、消防、家庭和单位安保领域，四轴将成为极度智能、行动敏捷的电子警察、电子消防员、电子保安、电子管家，也许在不久的将来，你会因为有一个会飞的家庭照看机器人而感到无比的贴心和安全。

三是建筑领域及其它高危作业环境。

TED大会上展示的四轴飞行器搭建建筑的视频也许不少爱好者都看过，这是相当有前景的应用，比起3D打印一座房子，用一群微小的四轴飞行器来构建庞大的建筑更加切合实际和灵活髙效，也许有一天你路过建筑工地，看到头顶上不是一群建筑工人在忙碌，而是一群嗡嗡作响的四轴飞行器在井然有序的工作，那个时候你可不要吃惊眼前看到的一切

STM32F031

The STM32F031x4/x6 microcontrollers incorporate the high-performance ARMCortex-M0 32-bit RISC core operating at a 48 MHz maximum frequency, high-speed embedded memories (up to 32 Kbytes of Flash memory and 4 Kbytes of SRAM), and an extensive range of enhanced peripherals and I/Os. All devices offer standard communication interfaces (one I2C, one SPI/ I2S and one USART), one 12-bit ADC, up to five general-purpose 16-bit timers, a 32-bit timer and an advanced-control PWM timer.

The STM32F031x4/x6 microcontrollers operate in the -40 to +85 °C and -40 to +105 °C temperature ranges, from a 2.0 to 3.6 V power supply. A comprehensive set of power-saving modes allows the design of low-power applications.

The STM32F031x4/x6 microcontrollers include devices in five different packages ranging from 20 pins to 48 pins with a die form also available upon request. Depending on the device chosen, different sets of peripherals are included. The description below provides an overview of the complete range of STM32F031x4/x6 peripherals proposed.

These features make the STM32F031x4/x6 microcontrollers suitable for a wide range of applications such as application control and user interfaces, handheld equipment, A/V receivers and digital TV, PC peripherals, gaming and GPS platforms, industrial applications, PLCs, inverters, printers, scanners, alarm systems, video intercoms, and HVACs.

Key Features

Core: ARM® 32-bit Cortex® -M0 CPU, frequency up to 48 MHz

Memories

16 to 32 Kbytes of Flash memory

4 Kbytes of SRAM with HW parity

CRC calculation unit

Reset and power management

Digital and I/Os supply: 2.0 to 3.6 V

Analog supply: VDDA = from VDD to 3.6 V

Power-on/Power-down reset (POR/PDR)

Programmable voltage detector (PVD)

Low power modes: Sleep, Stop and Standby

VBAT supply for RTC and backup registers

Clock management

4 to 32 MHz crystal oscillator

32 kHz oscillator for RTC with calibration

Internal 8 MHz RC with x6 PLL option

Internal 40 kHz RC oscillator

Up to 39 fast I/Os

All mappable on external interrupt vectors

Up to 25 I/Os with 5 V tolerant capability

5-channel DMA controller

1 × 12-bit, 1.0 μs ADC (up to 10 channels)

Conversion range: 0 to 3.6V

Separate analog supply from 2.4 up to 3.6 V

Up to 9 timers

1 x 16-bit 7-channel advanced-control timer for 6 channels PWM output, with deadtime generation and emergency stop

1 x 32-bit and 1 x 16-bit timer, with up to 4 IC/OC, usable for IR control decoding

1 x 16-bit timer, with 2 IC/OC, 1 OCN, deadtime generation and emergency stop

1 x 16-bit timer, with IC/OC and OCN, deadtime generation, emergency stop and modulator gate for IR control

1 x 16-bit timer with 1 IC/OC

Independent and system watchdog timers

SysTick timer: 24-bit downcounter

Calendar RTC with alarm and periodic wakeup from Stop/Standby

Communication interfaces

1 x I2 C interface; supporting Fast Mode Plus (1 Mbit/s) with 20 mA current sink, SMBus/PMBus, and wakeup from Stop mode

1 x USART supporting master synchronous SPI and modem control; one with ISO7816 interface, LIN, IrDA capability auto baud rate detection and wakeup feature

1 x SPI (18 Mbit/s) with 4 to 16 programmable bit frames, with I2 S interface multiplexed

Serial wire debug (SWD)

96-bit unique ID

Extended temperature range: -40 to +105°C

All packages ECOPACK® 2

STM32F0系列  

STM32 F0 Entry-level ARM Cortex-M0 MCUs

Devices in ST’s ARM® Cortex®-M0-based STM32 F0 series deliver 32-bit performance while featuring the essentials of the STM32 family and are particularly suited for cost-sensitive applications. STM32 F0 MCUs combine real-time performance, low-power operation, and the advanced architecture and peripherals of the STM32 platform.

The STM32F0x0 Value line is highly competitive in traditional 8-bit and 16-bit markets and eliminates the need to manage different architectures and the associated development overhead. If your device needs a USB peripheral, it’s now possible to order an STM32F070 Value line MCU.

The STM32F0x1 line provides a high integration of functions and covers a wide range of memory sizes and packages, bringing flexibility to cost-sensitive applications. 

The STM32F0x2 line provides rich connectivity with crystal-less USB 2.0 and a CAN bus interface, making it the ideal choice for communication gateways, smart-energy devices or game terminals.

The STM32F0x8-line operating at 1.8V ±8% is well suited for use in portable consumer applications such as smartphones, accessories and media devices.

The STM32 turns the one-architecture-fits-all concept into reality.

Offered in various package types, the STM32 F0 series satisfies the needs of a large variety of applications and segments.