Integrated Research on Design and Implementation of an Embedded Quadcopter UAV System Based on STM32

With the rapid development of embedded technology, Micro-Electro-Mechanical Systems (MEMS), and intelligent control algorithms, quadcopter unmanned aerial vehicles (UAVs) have demonstrated broad application prospects in fields such as aerial photography, agricultural plant protection, environmental monitoring, logistics distribution, and teaching and scientific research due to their simple structure, flexible control, and strong vertical take-off and landing capabilities. In response to current issues in quadcopter UAV control systems—such as high cost, complex algorithms, and weak anti-interference capabilities microcontrollers. The system employs the STM32F103C8T6/STM32F4 series as the core controller, utilizes the MPU6050 attitude sensor to acquire flight data, integrates quaternion-based attitude calculation and Kalman filtering algorithms to achieve high-precision attitude estimation, adopts a cascade PID control strategy to stabilize flight attitude, and enables real-time communication with the remote controller via NRF24L01/Si24R1 wireless modules. In terms of software architecture, a layered design philosophy is adopted, and the FreeRTOS real-time operating system is integrated for multi-task scheduling, thereby enhancing system real-time performance and reliability. Through hardware construction, software programming, system integration, and flight testing, the designed UAV system is verified to possess good stability, fast response, and strong anti-interference capabilities. This study not only provides a complete technical solution for developing low-cost, high-performance quadcopter UAVs but also establishes theoretical and practical foundations for subsequent algorithm optimization and functional expansion.