针对目前传统旋翼无人机体积大、结构复杂、成本较高的问题，设计实现了一种微型旋翼无人机系统。该系统基于STM32 微控制器，硬件由微控制器、姿态传感器、通信、电机、图传等模块组成；软件由主要循环、控制循环和反馈循环组成。地面操作端通过蓝牙或2.4G无线射频连接无人机，由微控制器进行姿态数据、操控数据的运算，实现无人机的控制。无人机通过5.8G图传传回图像和姿态数据。经测试，该系统稳定、可靠、易操作。

In order to solve the problem that the traditional rotorless unmanned aerial vehicles are large in size, complicated in structure and costly, a miniature rotor unmanned aerial vehicle system (MUAV) is designed. The system is based on STM32 microcontroller.The hardware consists of micro-controller, attitude sensor, communication, motor, map and other modules; software includes the main cycle, control cycle and feedback cycle. The ground operation side connects to the UAV through Bluetooth or 2.4G radio frequency, and the microcomputer calculates the attitude data and control data, to achieve UAV control. Then the UAV returns back the image and attitude data to the ground side through the 5.8G map. After testing, the system is stable, reliable and easy to operate.