Microcontroller-Based Design and Implementation of Flight Control System for a Small Quadrotor

This paper aims to build up a control platform for a small quadrotor to complete the design work of flight control system, so that the quadrotor can move freely in three-dimensional space. Firstly, a reference coordinate system and the motion control model of quadrotor are established. The PID method of flight control system of quadrotor is chosen, and the attitude and position control of the aircraft are modeled and simulated in MATLAB. Secondly, the detection data of gyroscope and accelerometer are calculated preliminarily and then processed through filtering algorithm by using STM32 micro-controller. The results showed that the attitude and position loop are controlled smoothly under small-angle action, and the control law is verified. The design of the function modules of the quadrotor's attitude detection and flight control is completed. Therefore, the content of the research is generally correct and feasible. From these results, it is concluded that the hardware platform of quadrotor should be built up primarily, and the design of system software should be completed after the integration of each module. The attitude control and fixed altitude flight control of quadrotor and tracking flight mission can be achieved preliminarily in our control platform.