Implementing INA V Firmware on STM۳۲F۴۱۱ for Cost-Effective UA V Flight Control

Advances in open-source firmware and microcontrollers have significantly improved the efficiency and affordability of UAV development for both research and practical applications. This paper presents the design and implementation of a rotor-type UAV using the STM۳۲F۴۱۱CEU۶ microcontroller and INA V firmware. The combination of low-cost hardware and versatile open-source software offers a scalable and reliable flight control system. Key aspects covered include firmware and driver setup, RC and motor calibration, CLI configurations, CPU load optimization, flight modes, and fail-safe mechanisms. A standout feature of the INA V firmware is its ability to fine-tune the P, I, and D parameters during flight, enhancing stability. Additionally, the CLI configuration is discussed in detail, showing how reducing the CPU's workload ensures smoother operation. Challenges encountered during integration and hardware configuration are analyzed, with practical solutions proposed. Real-world testing on a quadcopter validates the system's performance across various autonomous and manual flight modes. This work provides a step-by-step guide to quadcopter UAV development using INA V and the STM۳۲F۴۱۱CEU۶, with the goal of enhancing accessibility and reliability for both research and practical applications.

کلیدواژه ها:

Quadcopter UAV ، INA V Firmware ، Flight Control System ، Calibration ، STM۳۲F۴۱۱CEU۶