Flight control system design of tandem unmanned helicopter

The hardware and software of the flight control system of tandem unmanned helicopter were designed using embedded design technology. For the hardware of the flight control system, STM32 H750 VBT6 was used as the main control chip of the system, and the multi-sensor attitude measurement hardware system was constructed using 6-axis motion processing sensor LSM6 DSR and three-axis magnetometer LIS2 MDL. The timer on the main control chip was used to receive remote control input signal, output PWM motor control signal and steering gear control signal. For the flight control system software, the quaternion complementary filtering method was used to fuse the acceleration and angular velocity measured by the inertial navigation module and the three-axis magnetic field intensity measured by the magnetometer, and the flight attitude of the UAV was calculated. Cascade control strategy was adopted in the control strategy. The attitude angle of the UAV was controlled by the outer loop controls, and the attitude angular velocity of the UAV was controlled by the inner loop controls to achieve rapid and accurate control of the UAV attitude. The results show that the software and hardware of the flight control system of tandem unmanned helicopter are realized, and the expected results are achieved according to the flight test verification.