Board : STM32F4
Operating system : FreeRTOS
Sensors : ESP8266 , MPU9250 , TF02
Control algorithm : double loop pid control
三軸平衡使用角度角速度雙環 , z 軸定高使用高度速度雙環
地面工作站 :
https://github.com/RuHungLee/MyDroneGCS
PB6 : I2C1_SCL
PB7 : I2C1_SDA
Clock Speed (Hz) : 100000
STM32 Receiving method : polling
PD8 : USART3_TX
PB11 : USART3_RX
Baud Rate : 115200 Bits/s
STM32 Receiving method : polling
PA0 : UART4_TX
PA1 : UART4_RX
Baud Rate : 115200 Bits/s
STM32 Receiving method : idle interrupt , dma
make all
make flash
arm-none-eabi-gdb
target remote localhost:<port>