概述

　　无人机云台主要是用来控制相机的旋转。无人机在进行前进、后退等飞行姿态变化时，云台能够及时调整相机的角度，保证图像的稳定清晰，由于每个部分转动的空间都非常小，因此要求角度传感器与电机旋转轴的相对位置能够非常灵活;但绝大多数的角度传感器与磁铁这种结构灵活放置在一起就会带来非线性误差增大、检测角度不准确等问题。搭载该云台系统的无人机可以隔离机体姿态变化对摄像机视轴的影响，且能够适应各种复杂环境的干扰，在稳态和动态都有不错的响应。

　　优势

　　• 多达17点编程的三轴霍尔传感器，输出线性度更高;内置温度补偿，灵敏度温漂小于±0.3%，角度检测更精确;

　　• 20 路高精度 AD、2 路DA 的32 bit MCU R5F563TCEDFP#V1，拥有 24 路 PWM，可同时控制 3 路电机。

【 R5F563TCEDFP#V1】

100-MHz 32-bit RX MCU, on-chip FPU, 165 DMIPS, Two 12-bit ADCs (three S/H circuits, double data registers, amplifier, comparator), one 10-bit ADC, simultaneous sampling on 7 channels using three ADCs, 100 MHz PWM (2 three-phase complementary channels + 4 single-phase complementary channels or 3 three-phase complementary channels + 1 single-phase complementary channel)

Features

■ 32-bit RX CPU core

 Max. operating frequency: 100 MHz

Capable of 165 DMIPS in operation at 100 MHz

 Single precision 32-bit IEEE-754 floating point

 Two types of multiply-and-accumulation unit (between memories

and between registers)

 32-bit multiplier (fastest instruction execution takes one CPU clockcycle)

 Divider (fastest instruction execution takes two CPU clock cycles)

 Fast interrupt

 CISC Harvard architecture with 5-stage pipeline

 Variable-length instructions: Ultra-compact code

 Supports the memory protection unit (MPU)

 Two types of debugging interfaces: JTAG and FINE (two-line)

■ Low-power design and architecture

 Single 3.3-V supply or single 5-V supply; 3.3-V products can be

used with a 5-V analog power supply

 Four low-power modes

■ On-chip main flash memory, no wait states

 100-MHz operation, 10-ns read cycle (no wait states)

 Max. 512 Kbytes

 User code is programmable by USB, SCI, or JTAG.

■ On-chip data flash memory

 Max. 32 Kbytes, reprogrammable up to 100,000 times

 Programming/erasing as background operations (BGOs)

■ On-chip SRAM, no wait states

 Max. 48 Kbytes

 For instructions and operands

■ DMA

 DMA: Incorporates four channels

 DTC: A single unit can handle transfer on multiple channels.

■ Reset and supply management

 Power-on reset (POR)

 Low voltage detection (LVD) with voltage settings

■ Clock functions

 External crystal oscillator or internal PLL for operation at 4 to 12.5

MHz

 Internal 125-kHz LOCO

 Dedicated 125-kHz LOCO for the IWDT

■ Independent watchdog timer

 125-kHz LOCO clock operation

■ Useful functions for IEC60730 compliance

 Oscillation-stop detection, frequency measurement, CRC, IWDT,

self-diagnostic function for the A/D converter, etc.

■ External address space

 4 CS areas (4 × 1 Mbyte)

 Multiplexed address data or separate address lines are selectable per

area.

 8- or 16-bit bus space is selectable per area.

■ Up to 11 communications interfaces

 USB 2.0 full-speed function interface (1 channel)

 CAN (compliant with ISO11898-1), incorporating 32 mailboxes (1

channel)

 SCI with multiple functionalities (5 channels)

Choose from among asynchronous mode, clock-synchronous mode,

smart-card interface mode, simple SPI, simple I2C, and extended

serial mode.

 I2C bus interface for SMBus (2 channels)

 RSPI for high-speed transfer (2 channels)

■ Up to twenty 16-bit timers

 16-bit MTU3: 100-MHz operation, input capture, output compare,

three-phase complementary PWM waveform output (2 channels),

phase-counting mode (8 channels); complementary PWM does not

burden the CPU.

 16-bit GPT: 100-MHz operation, input capture, output compare, 4-

channel single-phase complementary PWM waveform output or 1-

channel three-phase complementary + 1-channel single-phase

complementary output, interlocking with comparator (counter

operation, PWM negation control), detection of abnormal oscillation

frequencies (useful for IEC60730 compliance)

(8 channels); complementary PWM does not burden the CPU.

 16-bit CMT (4 channels)

■ Generation of delays in PWM waveforms (for

products with the product ID code 1)

 The timing with which signals on the 16-bit GPT PWM output pin

rise and fall can be controlled with an accuracy of up to 312 ps (in

operation at 100 MHz).

■ Two A/D converters for 1-MHz operation, total of 8

channels

 Simultaneous sampling on 7 channels is possible with three units.

 Self-diagnosis function (useful for IEC60730 compliance)

 Two 12-bit ADCs: three sample-and-hold circuits, double data

registers, amplifier, comparator (8 channels)

 One 10-bit ADC (12 channels)

■ One A/D converter for 2-MHz operation, total of 20

channels

 One 10-bit ADC (20 channels)

■ 10-bit D/A converter: 2 channels

■ Digital Power Supply Controller-Dedicated

Calculation Function (for products with product IDcode 1)

 16-bit fixed-point calculation function that handles compensatory

calculations in the method of digital control for switched-mode

power supplies.

■ Register write protection function can protect values

in important registers against overwriting.

■ Up to 110 pins for GPIO

 Open drain, switchable driving ability

■ Operating temp. range

 –40C to +85C

 –40C to +105C

　     【无人驾驶飞机】

　　无人驾驶飞机简称“无人机”，英文缩写为“UAV”，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机，或者由车载计算机完全地或间歇地自主地操作。

　　与有人驾驶飞机相比，无人机往往更适合那些太“愚钝，肮脏或危险”的任务。无人机按应用领域，可分为军用与民用。军用方面，无人机分为侦察机和靶机。民用方面，无人机+行业应用，是无人机真正的刚需;目前在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等等领域的应用，大大的拓展了无人机本身的用途，发达国家也在积极扩展行业应用与发展无人机技术。

　　无人驾驶飞机简称“无人机”(“UAV”)，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞行器。无人机实际上是无人驾驶飞行器的统称，从技术角度定义可以分为：无人固定翼飞机、无人垂直起降飞机 、无人飞艇、无人直升机、无人多旋翼飞行器、无人伞翼机等。 与载人飞机相比，它具有体积小、造价低、使用方便、对作战环境要求低、战场生存能力较强等优点。由于无人驾驶飞机对未来空战有着重要的意义，世界各主要军事国家都在加紧进行无人驾驶飞机的研制工作。2013年11月，中国民用航空局(CA)下发了《民用无人驾驶航空器系统驾驶员管理暂行规定》，由中国AOPA协会负责民用无人机的相关管理。根据《规定》，中国内地无人机操作按照机型大小、飞行空域可分为11种情况，其中仅有116千克以上的无人机和4600立方米以上的飞艇在融合空域飞行由民航局管理，其余情况，包括日渐流行的微型航拍飞行器在内的其他飞行，均由行业协会管理、或由操作手自行负责。