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DIY四轴飞行器：基于MSP430F5系列单片机与Android

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DIY四轴飞行器：基于MSP430F5系列单片机与Android

Name: DIY四轴飞行器：基于MSP430F5系列单片机与Android
Brand: Jingdong book
SKU: 3118031261
Price: 42.70 USD
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四轴飞行器（四旋翼飞行器）是比较火的一种机电类设备，应用范围很广，从科技竞赛到航拍、侦查，随处可见四轴飞行器的身影。作者根据自己参加竞赛的实践经验编写了本书，引领读者DIY四轴飞行器。本书以TI公司的MSP430F5为控制器，首先简要介绍了四轴飞行器的历史，给出了四轴飞行器的组成部分及各部分的功能，接着介绍MSP430F5及Flappy430硬件、MSP430开发环境和编程方法、MSP430功能模块和四轴坐标系，然后详细讲述四轴飞行控制――卡尔曼滤波/四元数法，以及安卓程序的开发，以及讲解了四轴飞行器的实际使用及操作要点。

Author Description

黄和悦,男，西安电子科技大学，硕士。多次参与本科生的竞赛培训及工程实训，曾编写了DSP-C2000系列的教程及PPT应用于本科生的工程实训，在实践中取得了不错的效果。

Catalogue

第1章四轴飞行器概述
1.1 四轴飞行器的历史
1.2 四轴飞行器的现状、应用及微型化
1.3 四轴飞行器的力学原理及控制框图
1.3.1 四轴飞行器的力学原理
1.3.2 四轴的坐标及控制知识初步

第2章四轴飞行器的组成及各部分功能
2.1 四轴飞行器组成概述
2.1.1 2.4 GHz遥控器及接收机
2.1.2 蓝牙/WiFi等遥控器及接收机
2.1.3 姿态检测单元
2.1.4 处理器
2.1.5 调试器
2.1.6 电机驱动及电机
2.2 遥控器
2.2.1 2.4 GHz遥控器
2.2.2 蓝牙/安卓遥控
2.3 电机及驱动
2.3.1 无刷电机及电调
2.3.2 有刷电机及驱动电路
2.4 机架
2.4.1 大四轴飞行器机架
2.4.2 微型四轴飞行器机架
2.5 电池
2.6 飞控

第3章 MSP430F5简介及Flappy430硬件
3.1 MSP430F5系列介绍
3.2 Flappy430学习板介绍
3.3 PCB布线心得
3.4 硬件实物图及基本使用
3.5 配套资料及学习微处理器的顺序

第4章 MSP430开发环境及编程方法
4.1 IAR安装及使用
4.1.1 软件及仿真器安装
4.1.2 Flappy430软件驱动及串口通信软件
4.2 IAR的使用和调试
4.2.1 IAR的界面
4.2.2 新建一个工程并调试
4.3 Flappy430程序介绍及学习板的使用
4.3.1 新建Flappy430飞控工程
4.3.2 Flappy430学习板的装配及使用
4.4 MSP430F5编程介绍
4.4.1 头文件
4.4.2 库函数
4.5 C-430的特性及编程风格
4.5.1 C-430的数据类型
4.5.2 位带操作，常用语句形式
4.5.3 自写函数的接口规范
4.5.4 中断系统架构和中断函数写法
4.5.5 分离式源文件、头文件的组织

第5章 MSP430功能模块及四轴坐标系
5.1 时钟系统
5.2 数字IO口
5.3 端口映射（Portmapping）功能
5.4 定时?
5.5 PWM波
5.6 串口USCI
5.7 蓝牙/PC上位机及反馈测试
5.7.1 PC上位机通信协议
5.7.2 蓝牙通信协议
5.7.3 上位机测试四轴反馈
5.8 陀螺仪、加速度计及磁强计
5.8.1 陀螺仪
5.8.2 加速度计AD
5.8.3 磁强计
5.8.4 LSB概念及分析
5.9 PID算法及机体坐标系初步分析
5.9.1 PID算法的构造分析
5.9.2 四轴机体坐标系的构建

第6章四轴飞行控制——卡尔曼滤波/四元数法
6.1 传感器中立点
6.2 基于卡尔曼滤波的姿态计算方法
6.3 卡尔曼滤波法分析及测试
6.3.1 积分限幅及数据类型选择
6.3.2 算法效果测试
6.3.3 转换系数/LSB与传感器更换分析
6.3.4 算法loop周期的优化
6.4 PID调节器的构造及分析
6.4.1 PID算法各项的构造
6.4.2 PID算法各参数的整定
6.4.3 磁阻锁定及Yaw轴反馈
6.5 四元数算法的介绍及应用
6.5.1 四元数算法介绍
6.5.2 四元数算法的程序及实际应用
6.5.3 测试及分析
6.6 MWC飞控算法简介

第7章安卓程序简介
7.1 安卓系统简介
7.2 安卓遥控器开发

第8章四轴飞行器实际使用及操作
8.1 四轴飞行器起飞前的调校
8.2 四轴飞行器在飞行中常见问题的解析

附录A Flappy430 PCB图
附录B Flappy430整体原理图
附录C 本书资料下载
参考文献

Book Abstract

《DIY四轴飞行器：基于MSP430F5系列单片机与Android》：
上面的论述，大多是针对较大的四轴飞行器（轴距250 mm以上）而言的，目前航拍等主力也是这类四轴飞行器。但是，较大的四轴飞行器也有一些难以克服的缺点。例如
耗电较大；
旋翼力量很大，调试中容易发生危险；
太大，不易细致地观察与调试控制效果；
航拍中容易被发现，不利于隐蔽；
对飞行场地面积要求较高；
制作成本较高。
由于四轴飞行器容易制作、飞行灵活，人们更希望其能够实现小型化及微型化，从而能进入更多的空间进行数据采集，也能够更好地节约能源，便于携带。因此，小型／微型四轴飞行器的研制，成为了四轴飞行器发展的趋势之一。
实际上，小型／微型四轴飞行器的主体结构和大型四轴飞行器是一样的。一般轴距为150～250 mm的四轴飞行器还能勉强使用无刷电机，与一般的大四轴飞行器没有太大区别；而当四轴飞行器的轴距小于150 mm时，则进入了微型四轴飞行器的范畴，与较大的四轴飞行器有了一些差别。主要差别在于，微型四轴飞行器的体积很小，因此大多采用了空心杯电机，升力一般比较有限；而又由于体积小型化的需要，因此很多时候直接将控制板的PCB作为机架使用，因此，微型四轴飞行器的传感器容易受到机身振荡及电流的干扰；而体积小、升力不是很强也使得其控制规律相对大四轴飞行器更难以整定一些。
另外，既轻又小的外形使得微型四轴飞行器惯性较小，因此运动状态极易改变，这使得对微型四轴飞行器的控制需要更高的控制频率。
但是，也正因为有以上的这些特性，微型四轴飞行器也有很多的优势。例如，其制作成本比较低，调试相对容易简单，也更容易搭建系统的测试平台；而制作完成之后，执行任务的地点也更加多样化，而且因为比较小，所以容易和智能手机等连接，因此，研究微型四轴飞行器也成为当前的一个热点。
在学术上，世界上对小型四旋翼飞行器的研究主要集中在3个方面：基于惯导的自主飞行控制、基于视觉的自主飞行控制和自主飞行器系统方案，其典型代表分别是瑞士洛桑联邦科技学院（EPFL）的OS4、宾夕法尼亚大学的HMX4和佐治亚理工大学的GTMAS飞行器。
前面两者已经有过叙述了，不再赘述。GTMARS是佐治亚理工大学面向火星探测任务而设计的CAD无人机系统，它重20 kg，旋翼半径为0.92 m，续航时间为30 min。折叠封装的GTMARS随四面体着陆器登陆火星后，能自动将机构展开，能自主起飞和降落，巡航速度可达72 km／h；另外，它还能返回到着陆器补充能量（着陆器装载有太阳能电池）。
……

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