微型四轴无人机与中大型四轴无人机相比具有成本低、事故代价低、结构简单、量产率高等优势。本文主要介绍基于STM32的微型四轴无人机的硬件设计、程序设计及基本工作原理。无人机以STM32F103CBT6作为控制核心,MPU6050作为姿态运动传感器。控制器与无人机之间采用NRF24L01或BC04-B进行无线通信,使无人机端即时有效地接收控制器所发出的指令,使其能够实现在空间中自由移动。 Micro four-axis UAV and medium-sized four-axis UAV compared with low cost, low accident costs, simple structure, high yield and other advantages. This article mainly introduces the hardware design, program design and basic working principle of STM32-based miniature four-axis UAV. UAV to STM32F103CBT6 as the control center, MPU6050 as a gesture motion sensor. Using NRF24L01 or BC04-B for wireless communication between the controller and the UAV, the UAV receives the commands issued by the controller promptly and efficiently to enable it to move freely in space.