怎样布置简易开源飞行控制器

"""
SimpleDrone - 简易开源飞行控制器
版本: 0.1
硬件要求:
  - STM32F4/F7系列飞控板
  - MPU6050 (加速度计+陀螺仪)
  - PWM电机驱动
  - 2.4GHz接收机
"""

import time
import math

class FlightController:
    def __init__(self):
        self.armed = False
        self.throttle = 0  # 0-100%
        self.pitch = 0     # -100~100
        self.roll = 0      # -100~100
        self.yaw = 0       # -100~100

        # PID参数
        self.pid_pitch = {"P": 0.8, "I": 0.05, "D": 0.2}
        self.pid_roll = {"P": 0.8, "I": 0.05, "D": 0.2}
        self.pid_yaw = {"P": 1.0, "I": 0.01, "D": 0.0}

        # 传感器数据
        self.accel = [0, 0, 0]
        self.gyro = [0, 0, 0]

    def arm(self):
        """解锁电机"""
        if self.safety_check():
            self.armed = True
            self._send_signal("MOTORS_ARMED")

    def disarm(self):
        """锁定电机"""
        self.armed = False
        self._send_signal("MOTORS_DISARMED")

    def update_sensors(self, accel, gyro):
        """更新IMU传感器数据"""
        self.accel = accel
        self.gyro = gyro

    def set_controls(self, throttle, pitch, roll, yaw):
        """设置遥控输入"""
        self.throttle = max(0, min(100, throttle))
        self.pitch = max(-100, min(100, pitch))
        self.roll = max(-100, min(100, roll))
        self.yaw = max(-100, min(100, yaw))

    def stabilize(self):
        """飞行姿态稳定控制"""
        if not self.armed:
            return

        # 获取传感器数据
        ax, ay, az = self.accel
        gx, gy, gz = self.gyro

        # 计算姿态角 (简化版)
        pitch_angle = math.atan2(ax, math.sqrt(ay**2 + az**2))
        roll_angle = math.atan2(ay, math.sqrt(ax**2 + az**2))

        # PID计算 (伪代码)
        pitch_correction = self._calculate_pid(pitch_angle, self.pitch, self.pid_pitch)
        roll_correction = self._calculate_pid(roll_angle, self.roll, self.pid_roll)
        yaw_correction = self._calculate_pid(gz, self.yaw, self.pid_yaw)

        # 电机混控输出
        self._mixer_output(
            throttle=self.throttle,
            pitch=pitch_correction,
            roll=roll_correction,
            yaw=yaw_correction
        )

    def _calculate_pid(self, current, target, pid_params):
        """简易PID控制器"""
        # 伪实现 - 实际需要积分/微分计算
        error = target - current
        return error * pid_params["P"]

    def _mixer_output(self, throttle, pitch, roll, yaw):
        """四轴X模式混控"""
        # 电机布局: 前 后 左 右
        # [0]   [1]
        #    \ /
        #    / \
        # [2]   [3]

        m1 = throttle + pitch + roll + yaw
        m2 = throttle + pitch - roll - yaw
        m3 = throttle - pitch + roll - yaw
        m4 = throttle - pitch - roll + yaw

        self._set_motor_speed(1, m1)
        self._set_motor_speed(2, m2)
        self._set_motor_speed(3, m3)
        self._set_motor_speed(4, m4)

    def _set_motor_speed(self, motor_id, speed):
        """设置电机转速 (0-100%)"""
        # 硬件接口调用
        print(f"Motor {motor_id}: {max(0, min(100, speed))}%")

    def _send_signal(self, command):
        """发送控制信号 (硬件接口)"""
        print(f"[SIGNAL] {command}")

    def safety_check(self):
        """安全检查 (示例)"""
        # 实际需检查传感器状态等
        return True

# ===== 使用示例 =====
if __name__ == "__main__":
    drone = FlightController()

    # 模拟传感器更新
    drone.update_sensors(accel=[0.1, 0.02, 1.0], gyro=[0.01, -0.02, 0.1])

    # 设置控制输入
    drone.set_controls(throttle=50, pitch=0, roll=5, yaw=0)

    # 解锁并稳定
    drone.arm()
    drone.stabilize()

    time.sleep(1)
    drone.disarm()











































































































































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