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Jingdong book

四轴飞行器DIY：基于STM32微控制器

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Jingdong book

四轴飞行器DIY：基于STM32微控制器

Name: 四轴飞行器DIY：基于STM32微控制器
Brand: Jingdong book
SKU: 3118126121
Price: 32.15 USD
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Content Description

本书主要讲述如何自己动手制作（DIY）一个微型多旋翼飞行器。书中内容主要分四篇：第一篇主要介绍飞行器的相关基础知识，让读者对多旋翼飞行器有个感性的认知；第二篇重点介绍飞行器的硬件平台，包括模块详细解说、实物组装、固件下载方法和飞行器的操作说明等；第三篇重点介绍飞行器的软件开发环境、软件各个功能部分的讲解和各个模块部分的连接、飞控系统的核心算法等；第四篇介绍多旋翼飞行器的拓展，控制操作入门和技巧，以及其在不同行业的应用。

本书配套资料里面包含了微型多旋翼飞行器的代码，同时也包含遥控器代码。这些代码均有详细的注释，读者可参考它设计自己的固件，亦可通过书中介绍的方法，将编译后的代码下载到飞行器和遥控器中来体验飞行。

本书主要针对未入门而有强烈意愿DIY的飞行器爱好者和即将参加赛事的大学生朋友，引导他们着手进行设计；也可供初中生和高中生课外阅读，以培养兴趣和提高动手能力。

Catalogue

第一篇基础篇

第1章多旋翼飞行器的起源与发展2

第2章多旋翼飞行器的工作原理和组成8

2.1多旋翼飞行器的工作原理8

2.2多旋翼飞行器的基本组成10

2.2.1电机10

2.2.2电调11

2.2.3正反桨12

2.2.4电池13

2.2.5机架14

2.2.6遥控器15

2.2.7飞控16

第3章烈火微型四旋翼飞行器介绍18

3.1初识四轴飞行器18

3.2折腾的开始24

3.3顺利起飞25

3.4进阶27

3.5微型飞行器40

第二篇硬件篇

第4章烈火飞行器硬件平台44

4.1烈火飞行器硬件资源介绍44

4.2烈火飞行器原理图解读49

第5章DIY遥控器硬件平台55

5.1DIY遥控器硬件资源介绍55

5.2DIY遥控器原理图解读56

第6章烈火飞行器的硬件实物与组装59

6.1飞行器的组装60

6.2遥控器的组装67

第7章烈火飞行器固件下载和使用说明71

7.1SWD模式71

7.2串口ISP模式74

7.3烈火飞行器操作说明77

7.3.1摇杆对中及传感器校正78

7.3.2开机顺序78

7.3.3微调旋钮79

7.3.4关机顺序79

7.3.5锁尾模式79

7.3.6LED开关79

7.3.7电池电量检测79

7.3.8电池充电79

第三篇软件篇

第8章开发环境之RVMDK82

8.1新建工程指导82

8.2开发环境介绍91

8.2.1开发周期93

8.2.2μVision5集成开发环境94

8.3下载与调试94

第9章STM32交叉编译环境Eclipse98

9.1ARM嵌入式交叉编译工具链98

9.2Cygwin工具安装99

9.3JRE + Eclipse安装107

第10章软件设计之各功能模块实验112

10.1STM32时钟112

10.2LED指示灯实验120

10.3STM32的USART实验125

10.3.1相关介绍125

10.3.2程序讲解126

10.4STM32的ADC与DMA实验131

10.4.1相关介绍131

10.4.2用到的GPIO131

10.4.3代码讲解132

10.5STM32的 PWM驱动电机实验136

10.5.1相关介绍136

10.5.2用到的GPIO136

10.5.3代码讲解137

10.6STM32与MPU6050 I2C通信实验140

10.6.1MPU6050介绍140

10.6.2I2C总线介绍148

10.6.3模拟I2C驱动详解149

10.7STM32与 NRF24L01 SPI通信实验158

10.7.1SPI总线相关介绍158

10.7.2NRF24L01介绍158

10.7.3用到的GPIO165

10.7.4程序详解166

第11章飞行器的姿态解算174

11.1姿态解算的意义174

11.2飞行器姿态表示方法174

11.2.1旋转矩阵和欧拉角、转轴转角表示法174

11.2.2四元数表示法176

11.2.3四元数运动学方程178

11.3互补滤波算法180

11.4基于四元数的姿态解算互补滤波算法182

第12章PID算法在多旋翼飞行器上的应用186

12.1PID算法介绍186

12.1.1反馈的基本概念187

12.1.2历史及应用187

12.1.3公式定义188

12.2飞行器PID参数调试191

12.2.1各方法的简介192

12.2.2PID调试软件193

12.2.3PID控制的限制194

12.2.4PID算法的修改194

12.2.5串级PID控制器196

12.2.6其他PID的形式及其表示法196

12.2.7飞行器PID参数调试199

第13章上位机功能介绍201

13.1上位机环境201

13.2上位机与飞行板的通信202

13.3加速度计和陀螺仪的校准204

13.4PID参数的调试204

13.5遥控器的数据监视204

第14章飞行器的软件实现206

14.1主函数206

14.2主循环中运行频率为1 000 Hz的任务209

14.3主循环中运行频率为500 Hz的任务217

14.4主循环中运行频率为250 Hz的任务219

第15章遥控器的软件实现222

15.1遥控器的作用222

15.2遥控器的初始化223

15.3主循环中运行频率为500 Hz的任务225

15.4主循环中运行频率为100 Hz的任务228

15.5主循环中运行频率为25 Hz的任务229

15.6主循环中运行频率为4 Hz的任务231

15.7串口数据的处理233

第四篇拓展篇

第16章飞行器控制操作入门242

16.1练习“对尾飞行”242

16.2练习“对头飞行”245

16.3练习飞航线245

第17章微型四旋翼的航拍和FPV246

17.1微型四旋翼的航拍246

17.2微型四旋翼的FPV249

第18章深入算法研究251

18.1四轴飞行器动力学251

18.2四轴飞行器的线性化控制方法 253

18.3卡尔曼滤波器介绍254

18.3.1系统模型254

18.3.2卡尔曼滤波方程255

18.3.3卡尔曼滤波器在四轴飞行器上的应用255

第19章多旋翼飞行器的应用258

19.1在影视行业的应用258

19.2在消防行业的应用259

19.3在电力行业的应用260

19.4在农业行业的应用261

19.5在快递行业的应用261

19.6在载人多旋翼飞行器262

参考文献265

Introduction

从开始做微型多旋翼飞行器以来，我经常和一大批有着同样爱好的朋友们互相交流，他们走着我曾经走过的路，也经历着我所经历过的坎坷。无论我在何坛何群，总有朋友追问着很多重复的问题，未能全部一一解答很是抱歉。也正是因为如此，一直以来都想写点东西给他们，但因时间和精力所限都没能让我提笔。终于，北京航空航天大学出版社给了我这次机会，我甚是激动并深表感谢，于是抛开所有阻扰开启了这段思想旅程……

每当在论坛分享我的成果时，总能得到满满的支持，这也是我能排除万难一直坚持到现在的动力。而我唯一能回馈他们的就是分享我的经验使他们不再经历我的痛楚。所以在开启本书时，一段电影似的回忆会进入你的脑海，那是我与微型多旋翼飞行器从认识到熟知再到成为我生命中一部分的历程，犹如一对恋人从相识到相知再到相恋。

硬件设计方面，刚接触的朋友们总有很多不明白的地方，故我在书中对常常被提及的问题做了说明。这不仅仅需要理论知识的支持，更多的是需要理论与实践的有机结合，它是靠实际经验做依托的。比如在群里，多次有人问到数字电源地与模拟电源地为何隔离的问题，为了让朋友们更好地理解，我在书中用到了形象比喻，虽说不一定准确，但相信能对大家有所帮助。

在设计飞行器时，难点之一是硬件方面的设计，更多的难点无疑都指向数据融合和各种算法。网上的资料对此都是泛泛而谈，很少有一些更为具体的应用，想深入涉足飞行器的朋友常常望洋兴叹。为此，我们团队从最基本的开始，对各个模块逐一讲解说明，带领大家一起DIY属于自己的多旋翼飞行器。

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