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瑞萨飞控代码

于 2023-05-24 发布 文件大小:133.12 kB
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2015年全国大学生电子设计大赛,四轴题北京市一等奖。本实验主控芯片采用瑞萨RL78,串口读取MPU6050数据,自己设计的串级PID(角度环和角速度双环控制,大幅度提高四轴飞行稳定度),定高采用增量式的PID,定高较缓和。

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