資源簡介
該系統是基于stm32單片機的飛控程序,以MPU6050為核心,運用其內部自帶的DMP運算引擎,來融合出當前的姿態角,以串級PID控制算法為核心,能夠實現基本懸停,以及基本飛行。

代碼片段和文件信息
//**************************************************************************************
//License:
//Copyright?(C)?2011-2012?InvenSense?Corporation?All?Rights?Reserved.
//See?included?License.txt?for?License?information.
//
//*??@addtogroup??DRIVERS?Sensor?Driver?layer
//*??@brief???????Hardware?drivers?to?communicate?with?sensors?via?I2C.
//*
//*??@{
//*??????@file???????inv_mpu_dmp_motion_driver.c
//*??????@brief??????DMP?image?and?interface?functions.
//*??????@details????All?functions?are?preceded?by?the?dmp_?prefix?to
//*??????????????????differentiate?among?MPL?and?general?driver?function?calls.
//**************************************************************************************
#include?“anbt_dmp_driver.h“
#include?“anbt_dmp_fun.h“
//
//
#define?CFG_LP_QUAT?????????????(2712)
#define?END_ORIENT_TEMP?????????(1866)
#define?CFG_27??????????????????(2742)
#define?CFG_20??????????????????(2224)
#define?CFG_23??????????????????(2745)
#define?CFG_FIFO_ON_EVENT???????(2690)
#define?END_PREDICTION_UPDATE???(1761)
#define?CGNOTICE_INTR???????????(2620)
#define?X_GRT_Y_TMP?????????????(1358)
#define?CFG_DR_INT??????????????(1029)
#define?CFG_AUTH????????????????(1035)
#define?UPDATE_PROP_ROT?????????(1835)
#define?END_COMPARE_Y_X_TMP2????(1455)
#define?SKIP_X_GRT_Y_TMP????????(1359)
#define?SKIP_END_COMPARE????????(1435)
#define?FCFG_3??????????????????(1088)
#define?FCFG_2??????????????????(1066)
#define?FCFG_1??????????????????(1062)
#define?END_COMPARE_Y_X_TMP3????(1434)
#define?FCFG_7??????????????????(1073)
#define?FCFG_6??????????????????(1106)
#define?FLAT_STATE_END??????????(1713)
#define?SWING_END_4?????????????(1616)
#define?SWING_END_2?????????????(1565)
#define?SWING_END_3?????????????(1587)
#define?SWING_END_1?????????????(1550)
#define?CFG_8???????????????????(2718)
#define?CFG_15??????????????????(2727)
#define?CFG_16??????????????????(2746)
#define?CFG_EXT_GYRO_BIAS???????(1189)
#define?END_COMPARE_Y_X_TMP?????(1407)
#define?DO_NOT_UPDATE_PROP_ROT??(1839)
#define?CFG_7???????????????????(1205)
#define?FLAT_STATE_END_TEMP?????(1683)
#define?END_COMPARE_Y_X?????????(1484)
#define?SKIP_SWING_END_1????????(1551)
#define?SKIP_SWING_END_3????????(1588)
#define?SKIP_SWING_END_2????????(1566)
#define?TILTG75_START???????????(1672)
#define?CFG_6???????????????????(2753)
#define?TILTL75_END?????????????(1669)
#define?END_ORIENT??????????????(1884)
#define?CFG_FLICK_IN????????????(2573)
#define?TILTL75_START???????????(1643)
#define?CFG_MOTION_BIAS?????????(1208)
#define?X_GRT_Y?????????????????(1408)
#define?TEMPLABEL???????????????(2324)
#define?CFG_ANDROID_ORIENT_INT??(1853)
#define?CFG_GYRO_RAW_DATA???????(2722)
#define?X_GRT_Y_TMP2????????????(1379)
//
#define?D_0_22??????????????????(22+512)
#define?D_0_24??????????????????(24+512)
#define?D_0_36??????????????????(36)
#define?D_0_52??????????????????(52)
#define?D_0_96??????????????????(96)
#define?D_0_104????
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-07-07?12:45??Air_3.0\
?????目錄???????????0??2016-07-07?12:45??Air_3.0\App\
?????目錄???????????0??2016-07-07?12:45??Air_3.0\App\inc\
?????文件????????1259??2016-07-07?12:44??Air_3.0\App\inc\ANO_Tech.h
?????文件????????5520??2016-07-07?12:44??Air_3.0\App\inc\DataScope_DP.h
?????文件????????1041??2016-07-07?12:44??Air_3.0\App\inc\Flash.h
?????文件????????1022??2016-07-07?12:44??Air_3.0\App\inc\HMC5883.h
?????文件????????1180??2016-07-07?12:44??Air_3.0\App\inc\I2C_MPU6050.h
?????文件?????????754??2016-07-07?12:44??Air_3.0\App\inc\Lock.h
?????文件????????1860??2016-07-07?12:44??Air_3.0\App\inc\MPU6050.h
?????文件????????1493??2016-07-07?12:44??Air_3.0\App\inc\Motor_control.h
?????文件?????????725??2016-07-07?12:44??Air_3.0\App\inc\Ultrasonic.h
?????文件???????29314??2016-07-07?12:44??Air_3.0\App\inc\anbt_dmp_driver.h
?????文件?????????910??2016-07-07?12:44??Air_3.0\App\inc\anbt_dmp_fun.h
?????文件????????6978??2016-07-07?12:44??Air_3.0\App\inc\anbt_dmp_mpu6050.h
?????文件????????1898??2016-07-07?12:44??Air_3.0\App\inc\anbt_i2c.h
?????文件????????1050??2016-07-07?12:44??Air_3.0\App\inc\attitude.h
?????文件?????????860??2016-07-07?12:44??Air_3.0\App\inc\delay.h
?????文件????????1253??2016-07-07?12:44??Air_3.0\App\inc\include.h
?????文件?????????532??2016-07-07?12:44??Air_3.0\App\inc\kalman.h
?????文件????????4738??2016-07-07?12:44??Air_3.0\App\inc\kalman1.h
?????文件?????????655??2016-07-07?12:44??Air_3.0\App\inc\serial_scope.h
?????目錄???????????0??2016-07-07?12:45??Air_3.0\App\src\
?????文件????????8222??2016-07-07?12:44??Air_3.0\App\src\ANO_Tech.c
?????文件????????3246??2016-07-07?12:44??Air_3.0\App\src\DataScope_DP.C
?????文件????????3616??2016-07-07?12:44??Air_3.0\App\src\Flash.c
?????文件????????3419??2016-07-07?12:44??Air_3.0\App\src\HMC5883.c
?????文件????????5611??2016-07-07?12:44??Air_3.0\App\src\I2C_MPU6050.c
?????文件????????2514??2016-07-07?12:44??Air_3.0\App\src\Lock.c
?????文件????????3111??2016-07-07?12:44??Air_3.0\App\src\MPU6050.c
?????文件????????3732??2016-07-07?12:44??Air_3.0\App\src\Motor_control.c
............此處省略279個文件信息
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