Attitude algorithm system design of quad-rotor aircraft based on STM32

In this paper, a quad-rotor attitude algorithm system based on STM32 is discussed. This system uses a low-cost AHRS reference system to measure the attitude of aircraft, to merge data with complementary filter algorithms and PI control and to calculate the attitude with the data of gyroscope, accelerometer and magnetic by coordinate transformation. Experiments proved that the attitude algorithm system solved the noise interference and optimal estimation of attitude and achieved the requirement of steady, accurate and reliable data output for a long time.