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        "四轴飞行器自稳模式 控制逻辑",
        "显示开机画面，等电容充电",
        "用加速度计初始化一次四元数",
        "上电初始化",
        "初始化外设：OLED、电机PWM、电池AD、无线模块NRF24L01、加速度计陀螺仪、串",
        "□、FLASH",
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        "主循环：只管人，",
        "4个LED指示：飞行模式、运行状态、欠压",
        "左摇杆上下：油门",
        "运行状态机",
        "不管飞",
        "右摇杆左右：目标横滚角",
        "停止：电机不转",
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        "就绪：按K1进入，电机不转",
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        "IMU校准：加速度计、陀螺仪、重置参数",
        "四轴飞行器",
        "自稳模式",
        "每2ms，500Hz",
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        "读六轴原始值，减零偏，换坐标系",
        "6轴互补滤波：陀螺仪积分加快，加速度计重力方向纠偏",
        "控制逻辑",
        "换算成加速度g与角速度度每秒",
        "四元数转欧拉角",
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        "角速度环PID，内环",
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        "飞控本体",
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        "油门限90",
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        "外环输出作为内环目标",
        "四路PWM限幅0至100",
        "两条环串联，构成串级PID",
        "偏航目标按左摇杆累加，限±180度",
        "异常兜底",
        "遥控断连3秒：油门强制30，水平目标归零",
        "欠压低于2.8V持续1秒：LED4闪烁，控制照常",
        "倾斜超过±70度：立即停机",
        "落地自停：四路PWM连续100次为0",
        "开机需按K10才能继续",
        "4路摇杆AD值换算到-100至100",
        "中间±100死区归零",
        "每100ms发一包：ID、四个摇杆、键码",
        "遥控器端配套",
        "K9切换显示：摇杆值或飞机回传",
        "回传内容：电压、横滚、俯仰、偏航、高度、模式",
        "K1启动，K2停止，K5至K8微调",
        "上电初始化→主循环→1ms定时中断→异常兜底一遥控器端",
        "四轴飞行器·架构图"
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