本设计是基于STM32F4的四轴航拍平台。以STM32F407为控制核心，四轴飞行器为载体，辅以云台的航拍系统。硬件上由飞控电路，电源管理，通信模块，动力系统，机架，云台伺服系统组成。算法上采用简洁稳定的四元数加互补滤波作为姿态解算算法，PID作为控制器，实现飞行，云台增稳等功能。具有灵活轻盈，延展性，适应性强好等特点。(This design is based on STM32F4's four axis aerial platform. Taking STM32F407 as the control core, the four axis aircraft as carrier, and the aerial photography system of Yuntai. Hardware is composed of flight control circuit, power management, communication module, power system, rack, Yuntai servo system. Simple and stable quaternion plus complementary filtering is used as attitude calculation algorithm and PID is used as controller to realize the functions of flight and platform stabilization. It has the characteristics of flexibility, lightness, flexibility and adaptability.)