本项目利用Renesas公司提供的RL78/G13系列R5F100lEA芯片作为系统板，通过超声波测距模块和线性ccd采集高度和位置信息；采用TI公司的TM4C123GH6PM芯片作为飞行控制板，通过内嵌的MPU-9150芯片中获得的姿态数据对从系统板的数据进行矫正，通过PID调节，利用高度数据实现定飞行，利用ccd 数据控制飞行器稳定在黑线上方，转向以及控制电磁铁定点吸取和投放片。整个项目过程中不断进行硬件维护和软件测试，在短时间内基本实现定高循迹铁片定点投放等功能(The project uses RL78/G13 series R5F100lEA chip provided by Renesas company as the system board, through the ultrasonic ranging module and linear CCD acquisition height and position information; using TM4C123GH6PM's TI chip as the flight control board, the correction from the system board data through the attitude data obtained MPU-9150 chip embedded in the PID, by regulation, to realize the flight height data, using CCD data to control the aircraft stability and control in the black line above, to absorb and release tablets fixed electromagnet. Continue to maintain hardware and software testing process of the project, the basic realization of high iron tracking targeted delivery and other functions in a short period of time)