rotorcraft version 2.0
-This is a C/C++ autopolit project running on stm32 F407 (The UcosII is transfered to STM32) for:
1 Reading data and do filter for Accelerometers,Gyros, Magnets, barometers,GPS,Ultrasound
2 Fusing these data to estimate the pitch,roll,yaw,angular rate,position, velocity and acceleration of UAV
3 Controller
-The configration of the micro-processor is shown as below:
-Please see the detail of PCB design in: circuit diagram of mother board.pdf
ps: the stabliest navigation EKF codes version is : Acopter_project/Acopter/Src/poliot/imu_ekf2.cpp ; The matlab simulation codes of"imu_ekf2.cpp" can be seen in https://github.com/liaoguiqiu/Augmented-EKF
The paper for navigation algorithm is: https://arxiv.org/abs/2008.10469
Contact: liaoguiqiu@outlook.com