毕设成品 esp8266四轴飞行器

简介

Hi，大家好，今天向大家介绍一个学长做的单片机项目

毕业设计 esp8266四轴飞行器

大家可用于 课程设计 或 毕业设计

🔥 项目分享:
https://gitee.com/feifei1122/simulation-project

一、电路设计

硬件组成：

• Arduini Nan
• ESP8266
• MPU6050 模块
• 有刷电机
• 螺旋桨
• 电池包
• Si2302场效应管
• 无人机架

ESP8266模块

为了与无人机通信，我们需要蓝牙或WIFI连接，所以我们使用ESP8266 Wi-Fi模块，因为它有内置的Wi-Fi，我们可以使用它进行通信。

ESP8266开源、互动、可编程、低成本、简单、智能、最低成本的Wi-Fi硬件。

至于无人机的飞行范围。测试已经得到了范围大约是70米，使用三星手机充当WiFi热点和远程控制器。

MPU6050

MPU6050 IMU，一个低成本的设备，包含陀螺仪和加速计。

我们将使用MPU-6050和ESP8266模块来做一个无人机。

二、效果图

三、部分代码

    
​    #include
​    #include 
​    #include 
​    WiFiUDP UDP;
​    char packet[4];
​    //IPAddress local_IP(192, 168, 203, 158);
​    //IPAddress gateway(192, 168, 1, 158);
​    //IPAddress subnet(255, 255, 0, 0);
​    //_________________________________________//  
​    int ESCout_1 ,ESCout_2 ,ESCout_3 ,ESCout_4;
​    int input_PITCH = 50;
​    int input_ROLL = 50;
​    int input_YAW = 50;
​    volatile int input_THROTTLE = 0;
​    int Mode = 0;
​    
​    boolean wall_car_init = false;
​    boolean set_motor_const_speed = false;
​    int8_t target_axis=0;
​    int8_t target_dirr=0;
​    boolean wheal_state = false;
​    

    uint8_t pwm_stops;
    int arr[] = {20,10,20,10};
    volatile int order[] = {0,0,0,0}; //volatile key
    int temp_arr[] = {0,0,0,0};
    int pulldown_time_temp[] = {0,0,0,0,0};
    int pulldown_time[] = {0,0,0,0,0};
    volatile int pulldown_time_temp_loop[] = {0,0,0,0,0}; //volatile key
    uint8_t pin[] = {14,12,13,15};
    int i,j,temp_i,temp;
    boolean orderState1,orderState2,orderState3,orderState4,Timer_Init;
    
    int16_t gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temperature, acc_total_vector;
    float angle_pitch, angle_roll,angle_yaw,prev_roll,prev_pitch,prev_yaw;
    boolean set_gyro_angles;
    float angle_roll_acc, angle_pitch_acc;
    float angle_pitch_output, angle_roll_output, angle_yaw_output;
    long Time, timePrev;
    float elapsedTime,P_factor;
    float acceleration_x,acceleration_y,acceleration_z;
    long gyro_x_cal, gyro_y_cal, gyro_z_cal;
    float pitch_PID,roll_PID,yaw_PID;
    float roll_error, roll_previous_error, pitch_error, pitch_previous_error, yaw_error, yaw_previous_error;
    float roll_pid_p, roll_pid_d, roll_pid_i, pitch_pid_p, pitch_pid_i, pitch_pid_d, yaw_pid_p, yaw_pid_i, yaw_pid_d;
    float roll_desired_angle, pitch_desired_angle, yaw_desired_angle; 
    double twoX_kp=5;      //5
    double twoX_ki=0.003;   //0.003   
    double twoX_kd=1.4;     //1.4
    double yaw_kp=8;      //5
    double yaw_ki=0;  //0.005
    double yaw_kd=4;      //2.8


​    
​    
​    void ICACHE_RAM_ATTR PWM_callback() {
​      switch (pwm_stops){
​        case 0:
​          pulldown_time_temp[0] = pulldown_time_temp_loop[0];
​          pulldown_time_temp[1] = pulldown_time_temp_loop[1];
​          pulldown_time_temp[2] = pulldown_time_temp_loop[2];
​          pulldown_time_temp[3] = pulldown_time_temp_loop[3];
​          pulldown_time_temp[4] = pulldown_time_temp_loop[4];
​          pwm_stops = 1;
​          if(input_THROTTLE!=0){GPOS = (1 << 14);GPOS = (1 << 12);GPOS = (1 << 15);GPOS = (1 << 13);}
​          timer1_write(80*pulldown_time_temp[0]);
​          break;
​        case 1:
​          pwm_stops = 2;
​          GPOC = (1 << pin[order[0]]);
​          timer1_write(80*pulldown_time_temp[1]);
​          break;   
​        case 2:
​          pwm_stops = 3;
​          GPOC = (1 << pin[order[1]]);
​          timer1_write(80*pulldown_time_temp[2]);
​          break;
​        case 3:
​          pwm_stops = 4;
​          GPOC = (1 << pin[order[2]]);
​          timer1_write(80*pulldown_time_temp[3]);
​          break;
​        case 4:
​          pwm_stops = 0;
​          GPOC = (1 << pin[order[3]]);
​          timer1_write(80*pulldown_time_temp[4]);
​          break;             
​      }
​    }

🔥 项目分享:
https://gitee.com/feifei1122/simulation-project