CC3200和MPU6050的迷你四轴飞行器控制原理

多旋翼飞行器具有较好的发展前景，也是近年来的热门研究方向。本文讨论的四轴飞行器是一种四旋翼飞行器。首先介绍四轴飞行器的飞行控制原理；其次逐个阐述了基于 CC3200单片机和 MPU6050加速度计/陀螺仪的迷你四轴飞行器的各个关键模块，从软件和硬件的角度分别描述了各模块的实现和整合；最后，分析了该四轴飞行器的试飞结果以及该飞行器的一些不足。

Mini Four-axis Aircraft Based on CC3200 and MPU6050

The multi-rotor aircraft has better prospect for development,so it is a hot research direction.This article discusses the four-axis aircraft is a four-rotor aircraft.This paper introduces the principle of four-axis flight control of the aircraft firstly,then the key modules of the mini quadrocopter based on CC3200 MCU and MPU6050 accelerometer/gyroscope are described,and the implementation and integra-tion of each module from software and hardware point of view is described also.Finally,the test result of the four-axis aircraft and some deficiencies of the aircraft are discussed.