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: [email protected]