Design of a Four-Rotor Aircraft based on Cortex-M4
- https://doi.org/10.2991/icmra-15.2015.198How to use a DOI?
- Four-Rotor mini Aircraft; sliding-mode control; RT-thread; C#;
In this paper, we present a controller design on mini aircraft with four rotors from its theory to implementation. The dynamic model is gained by means of Large-scale transformation Algorithm of Quaternion to Euler Angle. We apply Cortex-M4 inner core microcomputer as a processor; get angle information from inertial sensor and altitude information from ultrasonic. By using sliding-mode control, six dimensions of the aircraft get under control. In the meantime, flight information will be preserved in SD card. The controller assures its reliability combining with embedded real time processing system RT-thread .Position machine programmed in C# could monitor the aircraft and modify its parameters by human.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Qin Nie AU - Shiguang Wen AU - Yunye Jiang AU - Liyang Xu PY - 2015/04 DA - 2015/04 TI - Design of a Four-Rotor Aircraft based on Cortex-M4 BT - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation PB - Atlantis Press SP - 1021 EP - 1025 SN - 2352-538X UR - https://doi.org/10.2991/icmra-15.2015.198 DO - https://doi.org/10.2991/icmra-15.2015.198 ID - Nie2015/04 ER -