A Design of Flight Control System for Four-Rotor Micro Aerial Vehicle

Four-rotor MAV (Micro Aerial Vehicle) is an under-actuated system which has four electric motors as the power plant and controls the flight by adjusting the motor speed, in order to achieve the flight control of the four-rotor MAV based on Internet of Things, "X" model is applied to design flight control system, and MCU-STM32F103 is used as the main controller to present the hardware design of the flight control system, quaternion, which is qualified by small amount of computation and fast updating speed, is adopted to calculate the attitude angle of flight control, cascade stage PID is used to conduct reasonable control on multiple quantity of state of flight control, to obtain more stable flight performance and more rapid attitude response. This air vehicle goes through several laboratory tests, and the performance of its hardware design is reliable, which can meet the control requirements of flight modes like taking off, hovering, landing and so on.